diff --git a/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode10.json b/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe2bfd3e3c57e78c3c7ca7185634394d90a2673
--- /dev/null
+++ b/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode11.json b/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f6d5ab2edd7224d671b3d79e40b5e97e22a05dc
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode19.json b/beat_block_hammer/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9b7c1aaf0144449dd33f313bacc9642a83e804
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_clean_ep20_vidar/scene_info.json b/beat_block_hammer/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5886d0e6d2febd0e0ea65bef7010a44bbdf033e
--- /dev/null
+++ b/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"
+        }
+    }
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_clean_ep20_vidar/seed.txt b/beat_block_hammer/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..544d54920bdf3791fe75aa43a6d0446fbe088ec1
--- /dev/null
+++ b/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 
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode0.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec5fe0fbb5baf67a1b46e4423dcba42fd388c82
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode1.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad853b5356cc8b93de5b05c07eed108b3f1595e2
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode10.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..db78d8ef518cb671719820369160bd9570718dfd
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode11.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d03e9484e5bf9ec469868d7b86c6efedda2aa6e7
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode12.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b98c08984003a32eaf672bbac57e81da7d6f2c
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode13.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22cdf060432a25eee852e12820402792840e57c
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode14.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0c05ee483f8d5196050a7b1c8fc90f40ecf4e8
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode15.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c7475c4862edbf841b3d2fa91e9720b5d1ddf2a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode16.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd3f74ea113949b6c79ba4bb88e10c02580bae1a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode17.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..35d534b0bbd640ddacbc046d45c7cee3a1cd8202
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode18.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..5467c763e9e2a9b127053eb07517393cd1795d6f
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode19.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..e725205c78db57358d17ff5d03c6ec23dbbbedc5
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode2.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..beeb85d831579d63fba747b06fe5b7bb40f022cf
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode3.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..26beefc4bd006c3888a019dc2bbeeceb42c8f2f4
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode4.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..566e166c651e6f7e580522687c4053aaf04f561e
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode5.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9107250ec9cbc88627bc20475921578c6e09ea5
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode6.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..964b86cfa42120c69a535bd8c053a039018618e1
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode7.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb82fefa280b73ea4312b161ecc1bdea9c81e49d
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode8.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0105d39aeecc2ffc12cb6c4554c708065ab0f7e
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode9.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2410a422c83aabe4888ad7f1f9bbabf66733dbe9
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/scene_info.json b/blocks_ranking_rgb/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9809c90b0e90fbe0546b0822755494af0ef25380
--- /dev/null
+++ b/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"
+        }
+    }
+}
\ No newline at end of file
diff --git a/blocks_ranking_rgb/demo_clean_ep20_vidar/seed.txt b/blocks_ranking_rgb/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df8c8a62cffede165eba16e5dd18239c807d8a92
--- /dev/null
+++ b/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 
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode0.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..603e0ed3ff910b174032ff9fc0d765d69f73433a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode12.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1bdb377ec7064e0a44bc56e56c1a6289f1fa562
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode13.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..037b114911f49c7a599ad79049cf727540a79ce4
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode17.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ae793d84b2928881fab702f493eeb5b5a88dd1
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode2.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2dea6dc0a7db4db42f2043b1bac71809273f3ec
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode4.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..167ee4fb4814a971aaa972be3d178bd10b6f75df
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode7.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b707c71fb2d637893f1156c3f75e72d553d79a0f
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode0.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ba34576346ac426ddcda1a1156372693a6e804
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode1.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..513d756e3e5b9bca7dd66c56b2b7a925a0b083f4
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode10.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c7448169ba770e161529a7a13c230c2f14c891
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode11.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d12ab4c5004b83920c421f90ea27cfd08fc018b
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode12.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a58342eb11ecc09fff01d081fbd6f3dc72a53e8
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode13.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc5a93db2f541d81385469cda79eee83063797f
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode14.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a60953e0b9d78fec5f7e57c3bfef9a06b6616d5
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode15.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca8f14a3e6297bd01669e3330f01811c8dfd8fca
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode16.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3d5ccfb89f69130b5dadca405765f473b93777a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode17.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e3cbcfd7f7e15ee2ad996580c1d3f0b4fe3c83
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode18.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fdfa2ae67a7d9fc4ccf6e86d5fb0953b399b3fd
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode19.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12a79474108f0d2b4e662dcd925e22e2849bdad
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode2.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe5fb17697bfabbdabfcc48d9bc42d00772dcd7
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode3.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c54b5d35da72c2c27fd7625dc61d041803e7c72
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode4.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c557fb27d313fd790b384cb7f86fb19da1622c9a
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode5.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..387ca5247a44cf84e7c887122a69b26f4fe24d87
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode6.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6a4e132c4f7754f73323b87d5bef477a03ddc9
--- /dev/null
+++ b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cup for holding liquids using the arm onto the wooden coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the flat round wooden coaster",
+    "Slide the rounded base blue cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape.",
+    "Use the arm to set the cup with light blue color on the flat surface gray wooden coaster",
+    "Align the cup with light blue color and set it down on the coaster made of smooth wood",
+    "Using the arm, drop the rounded base blue cup onto the light gray round grainy coaster.",
+    "Relocate the cylindrical light blue cup precisely onto the light gray streaked wooden coaster with arm",
+    "Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm.",
+    "Stick the light blue plastic cup onto the wooden coaster using the arm.",
+    "Lift the cup for holding liquids and stick it onto the light gray round grainy coaster.",
+    "Set the plastic cup for drinks carefully onto the round coaster",
+    "Use the arm to slide the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Using the arm, align the cup with light blue color over the coaster with circular shape",
+    "Pick the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Make sure the smooth blue drinking cup ends up on the coaster made of smooth wood.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster using the arm.",
+    "Set the cup for holding liquids down on the smooth round palm-sized coaster",
+    "Move the cup for holding liquids to the grainy texture coaster",
+    "Grab the smooth blue drinking cup and set it onto the flat surface gray wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the coaster made of smooth wood",
+    "Position the plastic cup for drinks squarely on top of the wooden coaster.",
+    "Move the plastic cup for drinks onto the flat surface gray wooden coaster with the arm",
+    "Stick the blue rounded-bottom cup onto the smooth round palm-sized coaster carefully.",
+    "Position the medium blue cylindrical cup on the round coaster with the arm.",
+    "Lift the plastic cup for drinks and place it over the flat surface gray wooden coaster",
+    "Use the arm to put the rounded base blue cup onto the coaster made of smooth wood.",
+    "Set the plastic cup for drinks securely on the grainy texture coaster using the arm.",
+    "Grab the rounded base blue cup and place it on the wooden coaster.",
+    "Use an arm to place the rounded base blue cup on the flat surface gray wooden coaster",
+    "Drop the smooth blue drinking cup on top of the light gray streaked wooden coaster.",
+    "Carefully place the blue rounded-bottom cup onto the light gray round grainy coaster without arm",
+    "Set the light blue plastic cup on the round coaster using the arm.",
+    "Set the cylindrical light blue cup onto the coaster made of smooth wood using the arm.",
+    "Place the cup with light blue color on top of the light gray round grainy coaster",
+    "Use the arm to position the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use arm to place the cup with light blue color on the flat round wooden coaster",
+    "Position the smooth blue cup for liquids carefully on the coaster made of smooth wood",
+    "Drop the medium blue cylindrical cup firmly on the flat surface gray wooden coaster using arm",
+    "Direct the plastic cup for drinks to the small coaster with grain texture and let it rest.",
+    "Lift the smooth blue drinking cup up and drop it on the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster and set it down.",
+    "Grab the medium-sized plastic blue cup and lower it onto the round coaster with light streaks",
+    "Position the smooth blue drinking cup above and drop it on the flat surface gray wooden coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the smooth round palm-sized coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the light gray round grainy coaster.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm",
+    "Use the arm to position the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Using the arm, slide the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and place it over the light gray streaked wooden coaster.",
+    "Move the cup with light blue color using the arm onto the light gray round grainy coaster.",
+    "Use an arm to drop the rounded base blue cup on the coaster with circular shape",
+    "Slide the cup with light blue color gently onto the smooth round palm-sized coaster via the arm.",
+    "Use an arm to drop the cylindrical light blue cup on the wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the small coaster with grain texture",
+    "Align the cup with light blue color and set it down on the small coaster with grain texture",
+    "Using the arm, drop the smooth blue cup for liquids onto the round coaster.",
+    "Relocate the plastic cup for drinks precisely onto the wooden coaster with arm",
+    "Slide the cup with smooth plastic surface onto the smooth round palm-sized coaster with the arm.",
+    "Stick the rounded base blue cup onto the grainy texture coaster using the arm.",
+    "Lift the medium-sized plastic blue cup and stick it onto the grainy texture coaster.",
+    "Set the smooth blue drinking cup carefully onto the flat round wooden coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the coaster with circular shape.",
+    "Using the arm, align the cup with light blue color over the small coaster with grain texture",
+    "Pick the blue rounded-bottom cup up and drop it on the smooth round palm-sized coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the wooden coaster.",
+    "Move the blue rounded-bottom cup to the coaster with circular shape using the arm.",
+    "Set the cylindrical light blue cup down on the small coaster with grain texture",
+    "Move the blue rounded-bottom cup to the light gray round grainy coaster",
+    "Grab the cup for holding liquids and set it onto the wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster",
+    "Position the cup with smooth plastic surface squarely on top of the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface onto the smooth round palm-sized coaster with the arm",
+    "Stick the light blue plastic cup onto the coaster with circular shape carefully.",
+    "Position the smooth blue cup for liquids on the round coaster with the arm.",
+    "Lift the blue rounded-bottom cup and place it over the round coaster",
+    "Use the arm to put the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Set the smooth blue drinking cup securely on the light gray streaked wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the wooden coaster.",
+    "Use an arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Drop the smooth blue cup for liquids on top of the wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the coaster made of smooth wood without arm",
+    "Set the cup with light blue color on the coaster made of smooth wood using the arm.",
+    "Set the plastic cup for drinks onto the smooth round palm-sized coaster using the arm.",
+    "Place the cup with smooth plastic surface on top of the small coaster with grain texture",
+    "Use the arm to position the smooth blue cup for liquids on the grainy texture coaster.",
+    "Use arm to place the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Position the cup with light blue color carefully on the light gray streaked wooden coaster",
+    "Drop the cup with light blue color firmly on the smooth round palm-sized coaster using arm",
+    "Direct the medium blue cylindrical cup to the round coaster and let it rest.",
+    "Lift the smooth blue cup for liquids up and drop it on the coaster with circular shape.",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster and set it down.",
+    "Grab the cup for holding liquids and lower it onto the coaster made of smooth wood",
+    "Position the medium-sized plastic blue cup above and drop it on the round coaster",
+    "Grab the cylindrical light blue cup, then place it onto the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks and place it onto the small coaster with grain texture.",
+    "Stick the smooth blue drinking cup onto the coaster made of smooth wood using the arm",
+    "Use the arm to position the cup with light blue color onto the wooden coaster.",
+    "Using the arm, slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Grab the cylindrical light blue cup and place it over the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Set the blue cup down 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 disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped 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",
+    "Set 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 blue cup and position it on 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.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully 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 handheld round blue cup on top of 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 disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup down on 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 light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place 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 on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on 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 light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "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 on top of 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 light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it 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 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 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 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 gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup down 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 onto the small drink-protecting wooden coaster.",
+    "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 on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto 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 gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped 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 small drink-protecting wooden coaster.",
+    "Place the small smooth 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 blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray 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",
+    "Set the small smooth cup down 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.",
+    "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 handheld round blue cup on top of the light gray 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.",
+    "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",
+    "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.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the 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",
+    "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.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth 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 disc-shaped light gray coaster.",
+    "Place the 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 handheld round blue cup on top of 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 small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode7.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..6724d36c0278cec97b5e3a202854ccad3fe7bb48
--- /dev/null
+++ b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to put the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Set the medium blue cylindrical cup onto the round coaster with light streaks using the arm.",
+    "Grab the light blue plastic cup and set it onto the small coaster with grain texture.",
+    "Set the light blue plastic cup securely on the coaster with circular shape using the arm.",
+    "Using the arm, drop the smooth blue cup for liquids onto the wooden coaster.",
+    "Relocate the cup for holding liquids precisely onto the smooth round palm-sized coaster with arm",
+    "Use an arm to drop the cup for holding liquids on the coaster made of smooth wood",
+    "Set the smooth blue drinking cup carefully onto the flat round wooden coaster",
+    "Move the cup with light blue color to the grainy texture coaster and set it down.",
+    "Lift the cup with light blue color and stick it onto the coaster with circular shape.",
+    "Carefully place the smooth blue cup for liquids onto the coaster with circular shape without arm",
+    "Grab the cup for holding liquids, then place it onto the coaster made of smooth wood.",
+    "Position the cup for holding liquids on the coaster with circular shape with the arm.",
+    "Stick the cup with light blue color onto the coaster made of smooth wood carefully.",
+    "Stick the light blue plastic cup onto the coaster made of smooth wood using the arm.",
+    "Using the arm, slide the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color and place it on the flat round wooden coaster.",
+    "Position the smooth blue drinking cup squarely on top of the light gray round grainy coaster.",
+    "Slide the smooth blue drinking cup onto the round coaster",
+    "Use an arm to place the rounded base blue cup on the coaster made of smooth wood",
+    "Use the arm to position the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood using the arm",
+    "Pick the cup with smooth plastic surface up and drop it on the round coaster with light streaks.",
+    "Use the arm to set the plastic cup for drinks on the round coaster with light streaks",
+    "Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm.",
+    "Lift the cup for holding liquids and place it over the flat round wooden coaster",
+    "Place the cup for holding liquids on top of the round coaster with light streaks",
+    "Drop the medium-sized plastic blue cup on top of the coaster with circular shape.",
+    "Use arm to place the cylindrical light blue cup on the coaster with circular shape",
+    "Position the cup for holding liquids above and drop it on the round coaster with light streaks",
+    "Move the cup with light blue color to the grainy texture coaster using the arm.",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster",
+    "Use the arm to position the rounded base blue cup on the wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the grainy texture coaster.",
+    "Align the smooth blue drinking cup and set it down on the coaster with circular shape",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Move the rounded base blue cup using the arm onto the smooth round palm-sized coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup up and drop it on the coaster made of smooth wood.",
+    "Slide the cup with smooth plastic surface gently onto the small coaster with grain texture via the arm.",
+    "Grab the plastic cup for drinks and lower it onto the small coaster with grain texture",
+    "Set the smooth blue cup for liquids down on the grainy texture coaster",
+    "Set the cup with light blue color on the coaster made of smooth wood using the arm.",
+    "Drop the cup for holding liquids firmly on the flat round wooden coaster using arm",
+    "Lift the medium-sized plastic blue cup and place it onto the small coaster with grain texture.",
+    "Using the arm, align the cylindrical light blue cup over the coaster made of smooth wood",
+    "Direct the rounded base blue cup to the small coaster with grain texture and let it rest.",
+    "Grab the smooth blue cup for liquids and place it over the round coaster with light streaks.",
+    "Move the smooth blue drinking cup onto the wooden coaster with the arm",
+    "Position the medium-sized plastic blue cup carefully on the round coaster",
+    "Use the arm to put the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Set the plastic cup for drinks onto the round coaster using the arm.",
+    "Grab the light blue plastic cup and set it onto the coaster with circular shape.",
+    "Set the cup with light blue color securely on the light gray streaked wooden coaster using the arm.",
+    "Using the arm, drop the cup for holding liquids onto the small coaster with grain texture.",
+    "Relocate the cylindrical light blue cup precisely onto the round coaster with light streaks with arm",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood",
+    "Set the smooth blue drinking cup carefully onto the light gray streaked wooden coaster",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster and set it down.",
+    "Lift the smooth blue cup for liquids and stick it onto the light gray streaked wooden coaster.",
+    "Carefully place the medium blue cylindrical cup onto the small coaster with grain texture without arm",
+    "Grab the smooth blue cup for liquids, then place it onto the flat round wooden coaster.",
+    "Position the plastic cup for drinks on the grainy texture coaster with the arm.",
+    "Stick the blue rounded-bottom cup onto the wooden coaster carefully.",
+    "Stick the light blue plastic cup onto the coaster with circular shape using the arm.",
+    "Using the arm, slide the cylindrical light blue cup onto the round coaster.",
+    "Grab the light blue plastic cup and place it on the flat round wooden coaster.",
+    "Position the medium blue cylindrical cup squarely on top of the grainy texture coaster.",
+    "Slide the smooth blue drinking cup onto the coaster with circular shape",
+    "Use an arm to place the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Use the arm to position the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Stick the cup with light blue color onto the smooth round palm-sized coaster using the arm",
+    "Pick the medium-sized plastic blue cup up and drop it on the wooden coaster.",
+    "Use the arm to set the cup with light blue color on the coaster with circular shape",
+    "Slide the blue rounded-bottom cup onto the grainy texture coaster with the arm.",
+    "Lift the cup with smooth plastic surface and place it over the smooth round palm-sized coaster",
+    "Place the medium-sized plastic blue cup on top of the wooden coaster",
+    "Drop the cup with smooth plastic surface on top of the coaster with circular shape.",
+    "Use arm to place the smooth blue cup for liquids on the flat surface gray wooden coaster",
+    "Position the plastic cup for drinks above and drop it on the flat round wooden coaster",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks using the arm.",
+    "Move the cup for holding liquids to the wooden coaster",
+    "Use the arm to position the plastic cup for drinks on the coaster made of smooth wood.",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster.",
+    "Align the medium-sized plastic blue cup and set it down on the coaster made of smooth wood",
+    "Use the arm to slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup using the arm onto the grainy texture coaster.",
+    "Make sure the light blue plastic cup ends up on the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface up and drop it on the grainy texture coaster.",
+    "Slide the plastic cup for drinks gently onto the round coaster with light streaks via the arm.",
+    "Grab the light blue plastic cup and lower it onto the wooden coaster",
+    "Set the smooth blue cup for liquids down on the small coaster with grain texture",
+    "Set the light blue plastic cup on the wooden coaster using the arm.",
+    "Drop the light blue plastic cup firmly on the wooden coaster using arm",
+    "Lift the blue rounded-bottom cup and place it onto the coaster made of smooth wood.",
+    "Using the arm, align the light blue plastic cup over the round coaster with light streaks",
+    "Direct the cup for holding liquids to the light gray round grainy coaster and let it rest.",
+    "Grab the blue rounded-bottom cup and place it over the grainy texture coaster.",
+    "Move the plastic cup for drinks onto the smooth round palm-sized coaster with the arm",
+    "Position the medium blue cylindrical cup carefully on the round coaster with light streaks"
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "Set the blue cup on top of 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 down 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 light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray 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 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.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down 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 small drink-protecting wooden 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 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",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup down on 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 small smooth cup onto 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 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.",
+    "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 small drink-protecting wooden coaster",
+    "Set the small smooth cup down 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 small smooth 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 on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the 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 small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray 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",
+    "Place the small smooth 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.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden 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.",
+    "Pick the handheld round blue cup and position it on 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 carefully 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 onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the 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 handheld round blue cup onto the light gray coaster gently.",
+    "Set the 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",
+    "Set the small smooth cup down on the 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",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place 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.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray 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.",
+    "Set the handheld round blue cup on top of 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 disc-shaped light gray coaster gently.",
+    "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",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set 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",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth 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",
+    "Set the handheld round blue cup down 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",
+    "Place the handheld round blue cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode8.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d66c9b071a8458bfcb25eedabb7486a271ab6b4
--- /dev/null
+++ b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the cup with light blue color securely on the wooden coaster using the arm.",
+    "Align the rounded base blue cup and set it down on the coaster made of smooth wood",
+    "Use the arm to position the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup to the round coaster",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood",
+    "Stick the rounded base blue cup onto the flat round wooden coaster carefully.",
+    "Using the arm, slide the rounded base blue cup onto the coaster made of smooth wood.",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Grab the plastic cup for drinks and place it on the light gray round grainy coaster.",
+    "Use the arm to put the light blue plastic cup onto the coaster made of smooth wood.",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface and place it onto the coaster made of smooth wood.",
+    "Drop the cylindrical light blue cup on top of the grainy texture coaster.",
+    "Move the light blue plastic cup to the grainy texture coaster using the arm.",
+    "Lift the cylindrical light blue cup and place it over the light gray round grainy coaster",
+    "Set the rounded base blue cup carefully onto the grainy texture coaster",
+    "Grab the cup with light blue color and place it over the round coaster.",
+    "Set the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Position the cup for holding liquids squarely on top of the round coaster.",
+    "Use the arm to slide the plastic cup for drinks onto the coaster with circular shape.",
+    "Grab the cylindrical light blue cup and lower it onto the flat surface gray wooden coaster",
+    "Grab the cup for holding liquids, then place it onto the smooth round palm-sized coaster.",
+    "Direct the cup with light blue color to the light gray round grainy coaster and let it rest.",
+    "Position the blue rounded-bottom cup carefully on the flat surface gray wooden coaster",
+    "Position the light blue plastic cup on the light gray round grainy coaster with the arm.",
+    "Stick the plastic cup for drinks onto the coaster made of smooth wood using the arm",
+    "Slide the cup with light blue color gently onto the round coaster with light streaks via the arm.",
+    "Grab the medium-sized plastic blue cup and set it onto the round coaster with light streaks.",
+    "Carefully place the light blue plastic cup onto the round coaster without arm",
+    "Move the rounded base blue cup to the light gray round grainy coaster and set it down.",
+    "Position the smooth blue cup for liquids above and drop it on the wooden coaster",
+    "Make sure the medium-sized plastic blue cup ends up on the round coaster.",
+    "Use an arm to place the rounded base blue cup on the round coaster",
+    "Move the blue rounded-bottom cup onto the light gray round grainy coaster with the arm",
+    "Pick the light blue plastic cup up and drop it on the flat round wooden coaster.",
+    "Move the light blue plastic cup using the arm onto the round coaster with light streaks.",
+    "Drop the cylindrical light blue cup firmly on the coaster with circular shape using arm",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster",
+    "Use arm to place the medium blue cylindrical cup on the flat round wooden coaster",
+    "Relocate the light blue plastic cup precisely onto the coaster with circular shape with arm",
+    "Slide the cup for holding liquids onto the smooth round palm-sized coaster with the arm.",
+    "Using the arm, align the smooth blue cup for liquids over the smooth round palm-sized coaster",
+    "Set the cup for holding liquids down on the small coaster with grain texture",
+    "Set the medium-sized plastic blue cup on the light gray round grainy coaster using the arm.",
+    "Lift the cup with light blue color and stick it onto the grainy texture coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the round coaster using the arm.",
+    "Lift the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Place the cylindrical light blue cup on top of the small coaster with grain texture",
+    "Use the arm to set the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Set the medium blue cylindrical cup securely on the grainy texture coaster using the arm.",
+    "Align the cylindrical light blue cup and set it down on the flat round wooden coaster",
+    "Use the arm to position the cup with light blue color on the wooden coaster.",
+    "Move the smooth blue cup for liquids to the grainy texture coaster",
+    "Use an arm to drop the smooth blue drinking cup on the wooden coaster",
+    "Stick the plastic cup for drinks onto the small coaster with grain texture carefully.",
+    "Using the arm, slide the light blue plastic cup onto the coaster with circular shape.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Grab the smooth blue drinking cup and place it on the round coaster with light streaks.",
+    "Use the arm to put the plastic cup for drinks onto the round coaster with light streaks.",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster.",
+    "Lift the cylindrical light blue cup and place it onto the coaster made of smooth wood.",
+    "Drop the cylindrical light blue cup on top of the round coaster.",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood using the arm.",
+    "Lift the plastic cup for drinks and place it over the flat round wooden coaster",
+    "Set the cylindrical light blue cup carefully onto the light gray round grainy coaster",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Set the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Position the medium blue cylindrical cup squarely on top of the light gray streaked wooden coaster.",
+    "Use the arm to slide the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the flat surface gray wooden coaster",
+    "Grab the smooth blue drinking cup, then place it onto the round coaster with light streaks.",
+    "Direct the smooth blue drinking cup to the round coaster with light streaks and let it rest.",
+    "Position the cylindrical light blue cup carefully on the light gray streaked wooden coaster",
+    "Position the smooth blue drinking cup on the light gray round grainy coaster with the arm.",
+    "Stick the cup for holding liquids onto the round coaster with light streaks using the arm",
+    "Slide the cup with light blue color gently onto the round coaster via the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the flat round wooden coaster.",
+    "Carefully place the cup for holding liquids onto the round coaster without arm",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster and set it down.",
+    "Position the light blue plastic cup above and drop it on the round coaster",
+    "Make sure the smooth blue drinking cup ends up on the round coaster with light streaks.",
+    "Use an arm to place the rounded base blue cup on the round coaster",
+    "Move the plastic cup for drinks onto the small coaster with grain texture with the arm",
+    "Pick the light blue plastic cup up and drop it on the light gray round grainy coaster.",
+    "Move the medium-sized plastic blue cup using the arm onto the round coaster.",
+    "Drop the plastic cup for drinks firmly on the flat surface gray wooden coaster using arm",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Use arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Relocate the cylindrical light blue cup precisely onto the small coaster with grain texture with arm",
+    "Slide the blue rounded-bottom cup onto the round coaster with light streaks with the arm.",
+    "Using the arm, align the blue rounded-bottom cup over the wooden coaster",
+    "Set the cup for holding liquids down on the smooth round palm-sized coaster",
+    "Set the cup for holding liquids on the flat surface gray wooden coaster using the arm.",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the coaster with circular shape.",
+    "Stick the cup for holding liquids onto the coaster made of smooth wood using the arm.",
+    "Lift the cup with light blue color up and drop it on the flat surface gray wooden coaster.",
+    "Place the medium-sized plastic blue cup on top of the coaster with circular shape",
+    "Use the arm to set the blue rounded-bottom cup on the flat surface gray wooden coaster"
+  ],
+  "unseen": [
+    "Place the 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 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 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 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 disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden 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 disc-shaped 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 handheld round blue cup and position it on the 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 gently.",
+    "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.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto 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.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the 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 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 down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully 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 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 disc-shaped light gray coaster",
+    "Set the blue cup on top of 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 small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on 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 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 disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on 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 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 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 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 disc-shaped light gray coaster.",
+    "Pick the blue 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 disc-shaped light gray coaster gently.",
+    "Place 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 blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully 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 light gray coaster.",
+    "Place the 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 small drink-protecting wooden 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.",
+    "Set the blue 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 carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on 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.",
+    "Pick the small smooth cup and position it 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 small drink-protecting wooden coaster gently.",
+    "Place 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 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 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 small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place 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 small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "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 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 small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/instructions/episode9.json b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..15cb5a9d79440667f6dd72b7aadfc698577f7bad
--- /dev/null
+++ b/place_empty_cup/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the smooth blue drinking cup to the round coaster and let it rest.",
+    "Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood",
+    "Set the cup for holding liquids carefully onto the light gray round grainy coaster",
+    "Set the medium blue cylindrical cup down on the wooden coaster",
+    "Relocate the cup with light blue color precisely onto the round coaster with light streaks with arm",
+    "Use the arm to position the cup with light blue color on the smooth round palm-sized coaster.",
+    "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster carefully.",
+    "Stick the cylindrical light blue cup onto the small coaster with grain texture using the arm",
+    "Set the light blue plastic cup securely on the light gray streaked wooden coaster using the arm.",
+    "Use an arm to drop the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Slide the cup with light blue color onto the smooth round palm-sized coaster",
+    "Using the arm, drop the light blue plastic cup onto the round coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the flat round wooden coaster without arm",
+    "Slide the cup with light blue color onto the coaster with circular shape with the arm.",
+    "Use the arm to position the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Grab the cup for holding liquids, then place it onto the coaster made of smooth wood.",
+    "Use the arm to set the smooth blue cup for liquids on the round coaster with light streaks",
+    "Using the arm, align the smooth blue cup for liquids over the smooth round palm-sized coaster",
+    "Position the blue rounded-bottom cup above and drop it on the round coaster",
+    "Use an arm to place the smooth blue cup for liquids on the grainy texture coaster",
+    "Position the cup with light blue color carefully on the small coaster with grain texture",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks using the arm.",
+    "Grab the cylindrical light blue cup and lower it onto the coaster made of smooth wood",
+    "Set the cylindrical light blue cup on the flat surface gray wooden coaster using the arm.",
+    "Use arm to place the cup for holding liquids on the flat surface gray wooden coaster",
+    "Slide the medium blue cylindrical cup gently onto the light gray round grainy coaster via the arm.",
+    "Use the arm to slide the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Grab the cylindrical light blue cup and place it over the flat surface gray wooden coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the grainy texture coaster.",
+    "Align the cup with smooth plastic surface and set it down on the light gray round grainy coaster",
+    "Grab the cylindrical light blue cup and set it onto the grainy texture coaster.",
+    "Set the plastic cup for drinks onto the flat round wooden coaster using the arm.",
+    "Grab the cylindrical light blue cup and place it on the coaster made of smooth wood.",
+    "Move the plastic cup for drinks using the arm onto the round coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster using the arm.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster and set it down.",
+    "Drop the plastic cup for drinks on top of the grainy texture coaster.",
+    "Use the arm to put the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids onto the round coaster with light streaks with the arm",
+    "Lift the blue rounded-bottom cup and stick it onto the round coaster.",
+    "Move the smooth blue drinking cup to the flat surface gray wooden coaster",
+    "Lift the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Lift the rounded base blue cup and place it over the light gray streaked wooden coaster",
+    "Place the cup with light blue color on top of the round coaster with light streaks",
+    "Position the smooth blue cup for liquids on the light gray round grainy coaster with the arm.",
+    "Position the medium blue cylindrical cup squarely on top of the coaster with circular shape.",
+    "Pick the light blue plastic cup up and drop it on the light gray round grainy coaster.",
+    "Drop the rounded base blue cup firmly on the wooden coaster using arm",
+    "Direct the medium blue cylindrical cup to the coaster with circular shape and let it rest.",
+    "Use an arm to drop the cup with smooth plastic surface on the wooden coaster",
+    "Set the light blue plastic cup carefully onto the light gray streaked wooden coaster",
+    "Set the cup with smooth plastic surface down on the smooth round palm-sized coaster",
+    "Relocate the cylindrical light blue cup precisely onto the coaster made of smooth wood with arm",
+    "Use the arm to position the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Stick the rounded base blue cup onto the small coaster with grain texture carefully.",
+    "Stick the cup with smooth plastic surface onto the light gray round grainy coaster using the arm",
+    "Set the cup with light blue color securely on the coaster made of smooth wood using the arm.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup onto the light gray round grainy coaster",
+    "Using the arm, drop the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Carefully place the plastic cup for drinks onto the light gray round grainy coaster without arm",
+    "Slide the cylindrical light blue cup onto the flat round wooden coaster with the arm.",
+    "Use the arm to position the cup with light blue color onto the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the flat round wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Using the arm, align the plastic cup for drinks over the small coaster with grain texture",
+    "Position the cup with light blue color above and drop it on the small coaster with grain texture",
+    "Use an arm to place the blue rounded-bottom cup on the flat surface gray wooden coaster",
+    "Position the cup for holding liquids carefully on the coaster with circular shape",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks using the arm.",
+    "Grab the medium-sized plastic blue cup and lower it onto the coaster with circular shape",
+    "Set the blue rounded-bottom cup on the round coaster using the arm.",
+    "Use arm to place the rounded base blue cup on the coaster with circular shape",
+    "Slide the cup with light blue color gently onto the coaster with circular shape via the arm.",
+    "Use the arm to slide the plastic cup for drinks onto the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface and place it over the round coaster.",
+    "Make sure the smooth blue drinking cup ends up on the small coaster with grain texture.",
+    "Align the cup for holding liquids and set it down on the wooden coaster",
+    "Grab the rounded base blue cup and set it onto the grainy texture coaster.",
+    "Set the cylindrical light blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the coaster with circular shape.",
+    "Move the cylindrical light blue cup using the arm onto the light gray streaked wooden coaster.",
+    "Lift the plastic cup for drinks and place it onto the wooden coaster.",
+    "Move the cup for holding liquids to the flat round wooden coaster using the arm.",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster and set it down.",
+    "Drop the cup for holding liquids on top of the wooden coaster.",
+    "Use the arm to put the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Using the arm, slide the plastic cup for drinks onto the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks with the arm",
+    "Lift the plastic cup for drinks and stick it onto the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface to the wooden coaster",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster.",
+    "Lift the medium blue cylindrical cup and place it over the wooden coaster",
+    "Place the light blue plastic cup on top of the smooth round palm-sized coaster",
+    "Position the plastic cup for drinks on the smooth round palm-sized coaster with the arm.",
+    "Position the light blue plastic cup squarely on top of the coaster made of smooth wood.",
+    "Pick the medium-sized plastic blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Drop the rounded base blue cup firmly on the round coaster with light streaks using arm"
+  ],
+  "unseen": [
+    "Set 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.",
+    "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 blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden 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 disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray 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 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 disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it 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 light gray 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 onto the disc-shaped 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 gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place 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",
+    "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.",
+    "Set 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",
+    "Place the blue cup onto the 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 gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place 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",
+    "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.",
+    "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 blue cup onto 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 onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place 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",
+    "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.",
+    "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 handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "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.",
+    "Set 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",
+    "Place the handheld round blue 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 small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place 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",
+    "Use arm to set the blue cup on 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 light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto 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 light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place 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",
+    "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.",
+    "Set the handheld round blue cup on top of the light gray 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.",
+    "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 carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on 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 on top of the light gray coaster.",
+    "Place the handheld round blue cup onto 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 disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster"
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/scene_info.json b/place_empty_cup/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e896d077184d635ecd99f2815d0c96c4489e6db0
--- /dev/null
+++ b/place_empty_cup/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}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_empty_cup/demo_clean_ep20_vidar/seed.txt b/place_empty_cup/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c400868533fd277446b91517fc756afb51c372b
--- /dev/null
+++ b/place_empty_cup/demo_clean_ep20_vidar/seed.txt
@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 16 17 18 19 20 
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode0.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec51a99979ed588c77b5163aae7d89dec0a6f0c8
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to pick the yellow bottle body with tapered neck, drop it in the black garbage bin, repeat for the cylindrical bottle and the red-labeled soda bottle.",
+    "Using arms, grab the yellow bottle body with tapered neck and place it in the rectangular black trash holder, do the same for the medium-sized water bottle and the red-labeled soda bottle.",
+    "Start with the medium yellow cylindrical bottle, grab it and drop it into the trash bin, repeat for the blue-accented cylindrical bottle and the smooth plastic bottle.",
+    "Pick the yellow bottle with smooth texture, drop it into the black garbage bin, then move the bottle with narrow neck and the red and black beverage bottle into the black garbage bin.",
+    "Place the bottle with green cap, the bottle with turquoise cap, and the plastic bottle with red cap into the plastic dustbin one after another.",
+    "Transfer the green-striped cap on yellow bottle, the bottle with turquoise cap, and the bottle with curved body shape to the dustbin with white inner bag located to the table's left.",
+    "Grab each of the smooth yellow bottle with ridged cap, the bottle with ribbed design, and the red-labeled soda bottle and drop them into the medium black garbage container.",
+    "Drop the medium yellow cylindrical bottle, the water bottle with textured body, and the plastic bottle with red cap into the black and white trash holder, handling them one at a time.",
+    "Move the bottle with green cap into the black dustbin, then do the same for the clear bottle with blue sections and the red and black beverage bottle.",
+    "Transfer the yellow bottle body with tapered neck, the bottle with turquoise cap, and the hand-sized drinking bottle into the black dustbin step by step.",
+    "Take the medium yellow cylindrical bottle, drop it in the medium black garbage container, then move the bottle with turquoise cap and the red bottle to the medium black garbage container.",
+    "Place the yellow bottle, the medium-sized water bottle, and the red and black beverage bottle into the medium-sized black plastic dustbin after taking them individually.",
+    "Grab the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the red-labeled soda bottle sequentially, placing each into the medium black garbage container.",
+    "Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the black bottle with red label in the black dustbin using the arms.",
+    "Grab the bottle with green cap, place it in the black bin with white liner, then grab the bottle with narrow neck and the red-labeled soda bottle for the black bin with white liner.",
+    "Grab the yellow bottle body with tapered neck, put it in the smooth black dustbin, follow by moving the bottle with turquoise cap and the black soda bottle with white top there too.",
+    "Move the yellow liquid container with green top, the blue-accented cylindrical bottle, and the red bottle to the medium black garbage container sequentially using the arms.",
+    "Move the medium yellow cylindrical bottle, the bottle for holding liquids, and the black bottle with red label into the medium-sized black plastic dustbin one by one.",
+    "Move the yellow bottle body with tapered neck to the black bin with white liner, then the bottle with ribbed design, and finally the black and red bottle.",
+    "Pick the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the red-labeled soda bottle from the table and place them inside the dustbin with white inner bag.",
+    "Carefully grab the yellow bottle, the bottle with narrow neck, and the smooth plastic bottle and position them in the smooth black dustbin.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and the blue-accented cylindrical bottle, then place them into the medium-sized black plastic dustbin along with the black and red bottle.",
+    "Begin with the yellow bottle body with tapered neck, move it to the black dustbin, then continue with the cylindrical bottle and the black soda bottle with white top.",
+    "Use arms to pick the yellow bottle body with tapered neck, the medium-sized water bottle, the red-labeled soda bottle, and place them one by one in the medium-sized black plastic dustbin.",
+    "Pick up the bottle made of smooth plastic, the smooth transparent plastic bottle, and the hand-sized drinking bottle, moving them one by one into the black dustbin.",
+    "Transfer the green-striped cap on yellow bottle, the bottle with turquoise cap, and the plastic bottle with red cap into the rectangular black trash holder using your arms, one by one.",
+    "Place the yellow bottle, the blue-accented cylindrical bottle, and the red bottle, one at a time, into the dustbin with lid and bag.",
+    "Grab the yellow liquid container with green top, the bottle with narrow neck, the drink bottle with slim neck, and drop them into the medium black garbage container to the left of the table.",
+    "Use the arms to transfer the bottle made of smooth plastic, the bottle for holding liquids, and the plastic bottle with red cap into the black and white trash holder step by step.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the dustbin with white inner bag, repeat for the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Grab the yellow bottle with smooth texture and the medium-sized water bottle, put them into the trash bin, and repeat for the drink bottle with slim neck.",
+    "Use arms to pick the green-striped cap on yellow bottle, the water bottle with textured body, and the drink bottle with slim neck and place them in the black and white trash holder.",
+    "Use arms to pick the medium yellow cylindrical bottle, the hand-sized bottle, and the rounded bottle with a white neck, dropping them into the smooth black dustbin.",
+    "Carry the yellow bottle with smooth texture first, drop it into the trash bin, repeat with the smooth transparent plastic bottle and the rounded bottle with a white neck.",
+    "Lift the yellow liquid container with green top, the blue-accented cylindrical bottle, and the black bottle with red label, dropping each into the rectangular black trash holder sequentially.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the medium-sized water bottle, and the black soda bottle with white top into the black garbage bin one by one.",
+    "Grab the bottle with small ridged green cap, drop it in the black bin with white liner, do the same for the transparent bottle and the drink bottle with slim neck.",
+    "Pick the medium plastic bottle with tapered neck, the water bottle with textured body, and the hand-sized drinking bottle one at a time and put them into the smooth black dustbin.",
+    "Grab the smooth yellow bottle with ridged cap, the water bottle with textured body, and the plastic bottle with red cap and put them sequentially into the medium black garbage container.",
+    "Put the medium plastic bottle with tapered neck into the black bin with white liner, followed by the blue-accented cylindrical bottle and the black and red bottle.",
+    "Take the smooth yellow bottle with ridged cap, the cylindrical bottle, and the smooth plastic bottle one at a time and place them into the black dustbin.",
+    "With arms, place the bottle made of smooth plastic, the water bottle with textured body, and the black bottle with red label into the medium black garbage container step by step.",
+    "Use the arms to move the yellow bottle body with tapered neck into the dustbin with white inner bag, then repeat for the smooth transparent plastic bottle and the black and red bottle.",
+    "Use arms to grab the green-striped cap on yellow bottle, the bottle with ribbed design, the rounded bottle with a white neck, and set them into the black and white trash holder to the left.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the transparent bottle, and the red-labeled soda bottle, dropping each into the black garbage bin.",
+    "Take the bottle with small ridged green cap with arms, put it in the medium black garbage container, repeat the same for the cylindrical bottle and the black and red bottle.",
+    "Use arms to move the medium plastic bottle with tapered neck, the bottle with ribbed design, and the smooth plastic bottle into the dustbin with white inner bag.",
+    "Take the yellow bottle body with tapered neck, the bottle for holding liquids, and the red and black beverage bottle and place them into the dustbin with white inner bag on the left.",
+    "Pick the cylindrical yellow bottle for holding liquids and move it into the medium-sized black plastic dustbin, repeat for the medium-sized water bottle and the plastic bottle with red cap.",
+    "Use arms to move the bottle made of smooth plastic, the smooth transparent plastic bottle, and the hand-sized drinking bottle to the black garbage bin on the table's left.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the plastic dustbin, repeat for the hand-sized bottle and the hand-sized drinking bottle.",
+    "Using arms, grab the bottle made of smooth plastic and place it in the medium-sized black plastic dustbin, do the same for the water bottle with textured body and the smooth plastic bottle.",
+    "Start with the bottle with small ridged green cap, grab it and drop it into the medium black garbage container, repeat for the transparent bottle and the black soda bottle with white top.",
+    "Pick the bottle with green cap, drop it into the black dustbin, then move the medium-sized water bottle and the rounded bottle with a white neck into the black dustbin.",
+    "Place the yellow liquid container with green top, the bottle for holding liquids, and the black and red bottle into the medium-sized black plastic dustbin one after another.",
+    "Transfer the bottle with small ridged green cap, the water bottle with textured body, and the hand-sized drinking bottle to the smooth black dustbin located to the table's left.",
+    "Grab each of the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the smooth plastic bottle and drop them into the plastic dustbin.",
+    "Drop the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the red and black beverage bottle into the black dustbin, handling them one at a time.",
+    "Move the yellow bottle body with tapered neck into the dustbin with lid and bag, then do the same for the blue-accented cylindrical bottle and the bottle with curved body shape.",
+    "Transfer the bottle made of smooth plastic, the hand-sized bottle, and the red and black beverage bottle into the black and white trash holder step by step.",
+    "Take the yellow bottle, drop it in the black and white trash holder, then move the smooth transparent plastic bottle and the drink bottle with slim neck to the black and white trash holder.",
+    "Place the yellow bottle, the water bottle with textured body, and the black soda bottle with white top into the dustbin with lid and bag after taking them individually.",
+    "Grab the bottle made of smooth plastic, the bottle with narrow neck, and the red-labeled soda bottle sequentially, placing each into the medium black garbage container.",
+    "Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the plastic bottle with red cap in the dustbin with white inner bag using the arms.",
+    "Grab the medium plastic bottle with tapered neck, place it in the medium-sized black plastic dustbin, then grab the clear bottle with blue sections and the hand-sized drinking bottle for the medium-sized black plastic dustbin.",
+    "Grab the yellow bottle body with tapered neck, put it in the plastic dustbin, follow by moving the water bottle with textured body and the smooth plastic bottle there too.",
+    "Move the bottle with small ridged green cap, the hand-sized bottle, and the plastic bottle with red cap to the black dustbin sequentially using the arms.",
+    "Move the yellow liquid container with green top, the bottle with ribbed design, and the black soda bottle with white top into the rectangular black trash holder one by one.",
+    "Move the yellow liquid container with green top to the rectangular black trash holder, then the cylindrical bottle, and finally the plastic bottle with red cap.",
+    "Pick the yellow bottle body with tapered neck, the cylindrical bottle, and the smooth plastic bottle from the table and place them inside the dustbin with lid and bag.",
+    "Carefully grab the yellow bottle body with tapered neck, the water bottle with textured body, and the smooth plastic bottle and position them in the plastic dustbin.",
+    "Using arms, grab the green-striped cap on yellow bottle and the bottle with turquoise cap, then place them into the dustbin with lid and bag along with the black bottle with red label.",
+    "Begin with the medium yellow cylindrical bottle, move it to the black dustbin, then continue with the bottle with narrow neck and the drink bottle with slim neck.",
+    "Use arms to pick the bottle with green cap, the bottle with ribbed design, the bottle with curved body shape, and place them one by one in the black dustbin.",
+    "Pick up the yellow bottle, the hand-sized bottle, and the black bottle with red label, moving them one by one into the rectangular black trash holder.",
+    "Transfer the yellow liquid container with green top, the hand-sized bottle, and the plastic bottle with red cap into the smooth black dustbin using your arms, one by one.",
+    "Place the yellow liquid container with green top, the cylindrical bottle, and the plastic bottle with red cap, one at a time, into the dustbin with white inner bag.",
+    "Grab the yellow bottle, the bottle for holding liquids, the black soda bottle with white top, and drop them into the black garbage bin to the left of the table.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the black bottle with red label into the medium-sized black plastic dustbin step by step.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the black garbage bin, repeat for the medium-sized water bottle and the black and red bottle.",
+    "Grab the medium yellow cylindrical bottle and the medium-sized water bottle, put them into the black and white trash holder, and repeat for the rounded bottle with a white neck.",
+    "Use arms to pick the bottle with green cap, the bottle with narrow neck, and the drink bottle with slim neck and place them in the medium-sized black plastic dustbin.",
+    "Use arms to pick the yellow liquid container with green top, the smooth transparent plastic bottle, and the black bottle with red label, dropping them into the medium black garbage container.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the medium black garbage container, repeat with the water bottle with textured body and the drink bottle with slim neck.",
+    "Lift the green-striped cap on yellow bottle, the water bottle with textured body, and the rounded bottle with a white neck, dropping each into the dustbin with lid and bag sequentially.",
+    "Use the arms to transfer the bottle with small ridged green cap, the bottle with turquoise cap, and the red bottle into the black garbage bin one by one.",
+    "Grab the cylindrical yellow bottle for holding liquids, drop it in the black dustbin, do the same for the bottle with ribbed design and the hand-sized drinking bottle.",
+    "Pick the bottle with green cap, the blue-accented cylindrical bottle, and the red bottle one at a time and put them into the plastic dustbin.",
+    "Grab the smooth yellow bottle with ridged cap, the cylindrical bottle, and the hand-sized drinking bottle and put them sequentially into the trash bin.",
+    "Put the smooth yellow bottle with ridged cap into the dustbin with lid and bag, followed by the water bottle with textured body and the red-labeled soda bottle.",
+    "Take the yellow bottle, the smooth transparent plastic bottle, and the black soda bottle with white top one at a time and place them into the dustbin with lid and bag.",
+    "With arms, place the bottle made of smooth plastic, the water bottle with textured body, and the rounded bottle with a white neck into the black and white trash holder step by step.",
+    "Use the arms to move the medium yellow cylindrical bottle into the dustbin with white inner bag, then repeat for the cylindrical bottle and the red-labeled soda bottle.",
+    "Use arms to grab the green-striped cap on yellow bottle, the transparent bottle, the red-labeled soda bottle, and set them into the plastic dustbin to the left.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the medium-sized water bottle, and the black and red bottle, dropping each into the black dustbin.",
+    "Take the yellow bottle with smooth texture with arms, put it in the black and white trash holder, repeat the same for the bottle for holding liquids and the black soda bottle with white top.",
+    "Use arms to move the yellow bottle with smooth texture, the clear bottle with blue sections, and the black bottle with red label into the dustbin with white inner bag.",
+    "Take the yellow bottle, the medium-sized water bottle, and the red and black beverage bottle and place them into the medium black garbage container on the left.",
+    "Pick the bottle with small ridged green cap and move it into the black bin with white liner, repeat for the hand-sized bottle and the bottle with curved body shape.",
+    "Use arms to move the medium plastic bottle with tapered neck, the bottle for holding liquids, and the smooth plastic bottle to the medium-sized black plastic dustbin on the table's left."
+  ],
+  "unseen": [
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode1.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..108192cadb120b2c5b0516f910fc66395ff61a69
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Transfer the green-striped cap on yellow bottle, the clear bottle with blue sections, and the rounded bottle with a white neck into the black garbage bin using your arms, one by one.",
+    "Use arms to move the smooth yellow bottle with ridged cap, the transparent bottle, and the drink bottle with slim neck into the rectangular black trash holder.",
+    "With arms, place the yellow liquid container with green top, the bottle with ribbed design, and the bottle with curved body shape into the dustbin with white inner bag step by step.",
+    "Lift the yellow bottle body with tapered neck, the bottle with ribbed design, and the drink bottle with slim neck, dropping each into the dustbin with lid and bag sequentially.",
+    "Use the arms to transfer the bottle with small ridged green cap, the cylindrical bottle, and the bottle with curved body shape into the medium black garbage container one by one.",
+    "Grab the yellow bottle with smooth texture and the clear bottle with blue sections, put them into the trash bin, and repeat for the hand-sized drinking bottle.",
+    "Move the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the red-labeled soda bottle into the plastic dustbin one by one.",
+    "Use arms to pick the yellow bottle body with tapered neck, the water bottle with textured body, and the bottle with curved body shape and place them in the smooth black dustbin.",
+    "Place the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the black bottle with red label, one at a time, into the black dustbin.",
+    "Place the medium yellow cylindrical bottle, the clear bottle with blue sections, and the rounded bottle with a white neck into the black and white trash holder after taking them individually.",
+    "Place the yellow bottle body with tapered neck, the cylindrical bottle, and the rounded bottle with a white neck in the smooth black dustbin using the arms.",
+    "Use the arms to move the smooth yellow bottle with ridged cap into the black bin with white liner, then repeat for the transparent bottle and the drink bottle with slim neck.",
+    "Use arms to pick the bottle with small ridged green cap, the bottle with narrow neck, and the black bottle with red label, dropping them into the black bin with white liner.",
+    "Carefully grab the yellow liquid container with green top, the cylindrical bottle, and the red-labeled soda bottle and position them in the medium black garbage container.",
+    "Take the bottle made of smooth plastic with arms, put it in the rectangular black trash holder, repeat the same for the medium-sized water bottle and the bottle with curved body shape.",
+    "Grab each of the yellow liquid container with green top, the bottle with turquoise cap, and the black soda bottle with white top and drop them into the dustbin with lid and bag.",
+    "Move the bottle made of smooth plastic, the bottle with narrow neck, and the bottle with curved body shape to the dustbin with lid and bag sequentially using the arms.",
+    "Use arms to move the yellow bottle, the bottle with ribbed design, and the black and red bottle to the dustbin with white inner bag on the table's left.",
+    "Grab the bottle with green cap, put it in the smooth black dustbin, follow by moving the bottle with narrow neck and the black bottle with red label there too.",
+    "Using arms, grab the yellow bottle and place it in the black and white trash holder, do the same for the blue-accented cylindrical bottle and the black soda bottle with white top.",
+    "Drop the bottle made of smooth plastic, the transparent bottle, and the smooth plastic bottle into the dustbin with lid and bag, handling them one at a time.",
+    "Using arms, grab the yellow bottle body with tapered neck and put it in the dustbin with white inner bag, repeat for the blue-accented cylindrical bottle and the red bottle.",
+    "Pick the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the drink bottle with slim neck one at a time and put them into the smooth black dustbin.",
+    "Using arms, grab the bottle with small ridged green cap and the bottle for holding liquids, then place them into the smooth black dustbin along with the red and black beverage bottle.",
+    "Pick the smooth yellow bottle with ridged cap, the transparent bottle, and the black and red bottle from the table and place them inside the rectangular black trash holder.",
+    "Move the yellow bottle body with tapered neck to the black bin with white liner, then the water bottle with textured body, and finally the drink bottle with slim neck.",
+    "Use arms to pick the yellow bottle with smooth texture, the bottle with ribbed design, the red and black beverage bottle, and place them one by one in the plastic dustbin.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the medium-sized black plastic dustbin, then grab the bottle with turquoise cap and the black soda bottle with white top for the medium-sized black plastic dustbin.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the rectangular black trash holder, repeat with the bottle with ribbed design and the red and black beverage bottle.",
+    "Begin with the bottle made of smooth plastic, move it to the black garbage bin, then continue with the clear bottle with blue sections and the red-labeled soda bottle.",
+    "Take the yellow bottle, drop it in the trash bin, then move the blue-accented cylindrical bottle and the smooth plastic bottle to the trash bin.",
+    "Use arms to pick the yellow bottle with smooth texture, drop it in the black bin with white liner, repeat for the smooth transparent plastic bottle and the rounded bottle with a white neck.",
+    "Transfer the bottle with small ridged green cap, the bottle for holding liquids, and the black and red bottle into the smooth black dustbin step by step.",
+    "Pick the cylindrical yellow bottle for holding liquids and move it into the black bin with white liner, repeat for the bottle with turquoise cap and the rounded bottle with a white neck.",
+    "Take the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the red bottle one at a time and place them into the rectangular black trash holder.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the water bottle with textured body, and the black soda bottle with white top into the dustbin with lid and bag step by step.",
+    "Use arms to grab the yellow bottle, the medium-sized water bottle, the rounded bottle with a white neck, and set them into the black garbage bin to the left.",
+    "Move the medium plastic bottle with tapered neck into the black garbage bin, then do the same for the clear bottle with blue sections and the bottle with curved body shape.",
+    "Pick the yellow liquid container with green top, drop it into the rectangular black trash holder, then move the smooth transparent plastic bottle and the bottle with curved body shape into the rectangular black trash holder.",
+    "Grab the bottle with small ridged green cap, the water bottle with textured body, and the black and red bottle and put them sequentially into the dustbin with white inner bag.",
+    "Place the yellow bottle, the water bottle with textured body, and the red and black beverage bottle into the medium-sized black plastic dustbin one after another.",
+    "Transfer the yellow bottle, the cylindrical bottle, and the drink bottle with slim neck to the medium black garbage container located to the table's left.",
+    "Grab the yellow bottle, drop it in the rectangular black trash holder, do the same for the transparent bottle and the plastic bottle with red cap.",
+    "Grab the bottle with small ridged green cap, the water bottle with textured body, and the red-labeled soda bottle sequentially, placing each into the plastic dustbin.",
+    "Grab the bottle made of smooth plastic, the bottle for holding liquids, the black bottle with red label, and drop them into the medium-sized black plastic dustbin to the left of the table.",
+    "Using arms, pick up the yellow bottle, the medium-sized water bottle, and the drink bottle with slim neck, dropping each into the medium black garbage container.",
+    "Take the medium plastic bottle with tapered neck, the water bottle with textured body, and the black and red bottle and place them into the plastic dustbin on the left.",
+    "Put the bottle with small ridged green cap into the medium black garbage container, followed by the bottle for holding liquids and the smooth plastic bottle.",
+    "Pick up the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the hand-sized drinking bottle, moving them one by one into the smooth black dustbin.",
+    "Start with the medium plastic bottle with tapered neck, grab it and drop it into the black garbage bin, repeat for the bottle with narrow neck and the black bottle with red label.",
+    "Transfer the yellow bottle, the bottle for holding liquids, and the drink bottle with slim neck into the dustbin with white inner bag using your arms, one by one.",
+    "Use arms to move the bottle with green cap, the smooth transparent plastic bottle, and the red and black beverage bottle into the medium black garbage container.",
+    "With arms, place the medium plastic bottle with tapered neck, the bottle for holding liquids, and the red and black beverage bottle into the medium black garbage container step by step.",
+    "Lift the smooth yellow bottle with ridged cap, the cylindrical bottle, and the black and red bottle, dropping each into the dustbin with white inner bag sequentially.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the medium-sized water bottle, and the rounded bottle with a white neck into the medium black garbage container one by one.",
+    "Grab the green-striped cap on yellow bottle and the blue-accented cylindrical bottle, put them into the dustbin with lid and bag, and repeat for the black soda bottle with white top.",
+    "Move the yellow bottle, the bottle with ribbed design, and the smooth plastic bottle into the black and white trash holder one by one.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the black soda bottle with white top and place them in the trash bin.",
+    "Place the yellow bottle with smooth texture, the blue-accented cylindrical bottle, and the red bottle, one at a time, into the plastic dustbin.",
+    "Place the yellow bottle, the bottle with narrow neck, and the rounded bottle with a white neck into the smooth black dustbin after taking them individually.",
+    "Place the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the red bottle in the dustbin with white inner bag using the arms.",
+    "Use the arms to move the bottle with green cap into the rectangular black trash holder, then repeat for the water bottle with textured body and the black bottle with red label.",
+    "Use arms to pick the yellow bottle, the medium-sized water bottle, and the drink bottle with slim neck, dropping them into the black garbage bin.",
+    "Carefully grab the yellow liquid container with green top, the bottle for holding liquids, and the black bottle with red label and position them in the black dustbin.",
+    "Take the bottle with small ridged green cap with arms, put it in the black bin with white liner, repeat the same for the blue-accented cylindrical bottle and the drink bottle with slim neck.",
+    "Grab each of the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the red-labeled soda bottle and drop them into the smooth black dustbin.",
+    "Move the green-striped cap on yellow bottle, the medium-sized water bottle, and the drink bottle with slim neck to the rectangular black trash holder sequentially using the arms.",
+    "Use arms to move the yellow liquid container with green top, the bottle for holding liquids, and the red and black beverage bottle to the smooth black dustbin on the table's left.",
+    "Grab the bottle made of smooth plastic, put it in the black and white trash holder, follow by moving the cylindrical bottle and the rounded bottle with a white neck there too.",
+    "Using arms, grab the yellow liquid container with green top and place it in the smooth black dustbin, do the same for the cylindrical bottle and the rounded bottle with a white neck.",
+    "Drop the smooth yellow bottle with ridged cap, the hand-sized bottle, and the drink bottle with slim neck into the black bin with white liner, handling them one at a time.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the medium black garbage container, repeat for the bottle with narrow neck and the smooth plastic bottle.",
+    "Pick the medium yellow cylindrical bottle, the hand-sized bottle, and the plastic bottle with red cap one at a time and put them into the rectangular black trash holder.",
+    "Using arms, grab the medium plastic bottle with tapered neck and the hand-sized bottle, then place them into the dustbin with lid and bag along with the plastic bottle with red cap.",
+    "Pick the yellow liquid container with green top, the smooth transparent plastic bottle, and the plastic bottle with red cap from the table and place them inside the black and white trash holder.",
+    "Move the green-striped cap on yellow bottle to the black bin with white liner, then the hand-sized bottle, and finally the smooth plastic bottle.",
+    "Use arms to pick the bottle with green cap, the bottle with ribbed design, the plastic bottle with red cap, and place them one by one in the medium black garbage container.",
+    "Grab the bottle with small ridged green cap, place it in the dustbin with lid and bag, then grab the blue-accented cylindrical bottle and the black and red bottle for the dustbin with lid and bag.",
+    "Carry the bottle with small ridged green cap first, drop it into the black dustbin, repeat with the smooth transparent plastic bottle and the red-labeled soda bottle.",
+    "Begin with the yellow liquid container with green top, move it to the medium-sized black plastic dustbin, then continue with the clear bottle with blue sections and the bottle with curved body shape.",
+    "Take the cylindrical yellow bottle for holding liquids, drop it in the black bin with white liner, then move the hand-sized bottle and the hand-sized drinking bottle to the black bin with white liner.",
+    "Use arms to pick the yellow bottle with smooth texture, drop it in the black dustbin, repeat for the water bottle with textured body and the black bottle with red label.",
+    "Transfer the bottle made of smooth plastic, the transparent bottle, and the smooth plastic bottle into the rectangular black trash holder step by step.",
+    "Pick the medium plastic bottle with tapered neck and move it into the dustbin with white inner bag, repeat for the cylindrical bottle and the drink bottle with slim neck.",
+    "Take the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the black soda bottle with white top one at a time and place them into the medium black garbage container.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the black soda bottle with white top into the black garbage bin step by step.",
+    "Use arms to grab the bottle with green cap, the medium-sized water bottle, the black bottle with red label, and set them into the medium black garbage container to the left.",
+    "Move the bottle made of smooth plastic into the medium black garbage container, then do the same for the water bottle with textured body and the hand-sized drinking bottle.",
+    "Pick the bottle made of smooth plastic, drop it into the trash bin, then move the bottle with turquoise cap and the red and black beverage bottle into the trash bin.",
+    "Grab the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the rounded bottle with a white neck and put them sequentially into the black and white trash holder.",
+    "Place the medium yellow cylindrical bottle, the cylindrical bottle, and the smooth plastic bottle into the rectangular black trash holder one after another.",
+    "Transfer the yellow liquid container with green top, the bottle with narrow neck, and the bottle with curved body shape to the plastic dustbin located to the table's left.",
+    "Grab the cylindrical yellow bottle for holding liquids, drop it in the medium-sized black plastic dustbin, do the same for the bottle with narrow neck and the red and black beverage bottle.",
+    "Grab the yellow bottle body with tapered neck, the medium-sized water bottle, and the red bottle sequentially, placing each into the black garbage bin.",
+    "Grab the green-striped cap on yellow bottle, the medium-sized water bottle, the smooth plastic bottle, and drop them into the dustbin with white inner bag to the left of the table.",
+    "Using arms, pick up the yellow liquid container with green top, the bottle for holding liquids, and the black soda bottle with white top, dropping each into the rectangular black trash holder.",
+    "Take the medium plastic bottle with tapered neck, the bottle with ribbed design, and the rounded bottle with a white neck and place them into the plastic dustbin on the left.",
+    "Put the cylindrical yellow bottle for holding liquids into the black garbage bin, followed by the clear bottle with blue sections and the hand-sized drinking bottle.",
+    "Pick up the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the drink bottle with slim neck, moving them one by one into the black bin with white liner.",
+    "Start with the bottle with green cap, grab it and drop it into the medium-sized black plastic dustbin, repeat for the medium-sized water bottle and the black and red bottle."
+  ],
+  "unseen": [
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the simple black garbage bin."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode10.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a82a1c62bfdb0d48be13523f63b0ec5fb16300
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to pick the bottle with small ridged green cap, the medium-sized water bottle, the red-labeled soda bottle, and place them one by one in the plastic dustbin.",
+    "Pick the medium yellow cylindrical bottle, the clear bottle with blue sections, and the red-labeled soda bottle one at a time and put them into the black and white trash holder.",
+    "Use the arms to transfer the yellow liquid container with green top, the cylindrical bottle, and the black bottle with red label into the medium-sized black plastic dustbin one by one.",
+    "Transfer the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the red-labeled soda bottle into the trash bin step by step.",
+    "Grab the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, the red and black beverage bottle, and drop them into the black bin with white liner to the left of the table.",
+    "Grab each of the green-striped cap on yellow bottle, the bottle with narrow neck, and the rounded bottle with a white neck and drop them into the medium-sized black plastic dustbin.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the red bottle into the rectangular black trash holder step by step.",
+    "Take the smooth yellow bottle with ridged cap, the cylindrical bottle, and the rounded bottle with a white neck and place them into the dustbin with lid and bag on the left.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the black bin with white liner, repeat with the blue-accented cylindrical bottle and the bottle with curved body shape.",
+    "Use arms to move the yellow bottle, the smooth transparent plastic bottle, and the red-labeled soda bottle to the trash bin on the table's left.",
+    "Take the yellow bottle, drop it in the dustbin with white inner bag, then move the blue-accented cylindrical bottle and the black soda bottle with white top to the dustbin with white inner bag.",
+    "Grab the bottle made of smooth plastic, the hand-sized bottle, and the smooth plastic bottle and put them sequentially into the dustbin with lid and bag.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the dustbin with lid and bag, repeat for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Pick the bottle made of smooth plastic, drop it into the medium-sized black plastic dustbin, then move the bottle with ribbed design and the smooth plastic bottle into the medium-sized black plastic dustbin.",
+    "Pick the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the plastic bottle with red cap from the table and place them inside the black and white trash holder.",
+    "Start with the smooth yellow bottle with ridged cap, grab it and drop it into the black bin with white liner, repeat for the transparent bottle and the rounded bottle with a white neck.",
+    "Use arms to pick the yellow bottle, drop it in the smooth black dustbin, repeat for the transparent bottle and the black soda bottle with white top.",
+    "Grab the medium yellow cylindrical bottle, drop it in the dustbin with lid and bag, do the same for the cylindrical bottle and the smooth plastic bottle.",
+    "Carefully grab the yellow liquid container with green top, the medium-sized water bottle, and the hand-sized drinking bottle and position them in the dustbin with lid and bag.",
+    "Move the yellow bottle to the rectangular black trash holder, then the blue-accented cylindrical bottle, and finally the bottle with curved body shape.",
+    "Using arms, grab the bottle with small ridged green cap and place it in the rectangular black trash holder, do the same for the water bottle with textured body and the drink bottle with slim neck.",
+    "With arms, place the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the black soda bottle with white top into the black garbage bin step by step.",
+    "Take the smooth yellow bottle with ridged cap with arms, put it in the trash bin, repeat the same for the bottle with ribbed design and the hand-sized drinking bottle.",
+    "Use arms to pick the bottle with green cap, the bottle with narrow neck, and the black and red bottle, dropping them into the dustbin with white inner bag.",
+    "Grab the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the black soda bottle with white top sequentially, placing each into the black garbage bin.",
+    "Drop the yellow bottle, the transparent bottle, and the drink bottle with slim neck into the rectangular black trash holder, handling them one at a time.",
+    "Using arms, grab the yellow bottle and the smooth transparent plastic bottle, then place them into the smooth black dustbin along with the bottle with curved body shape.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the bottle with narrow neck, and the black bottle with red label and place them in the dustbin with white inner bag.",
+    "Take the yellow bottle with smooth texture, the medium-sized water bottle, and the red bottle one at a time and place them into the black garbage bin.",
+    "Place the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the bottle with curved body shape, one at a time, into the rectangular black trash holder.",
+    "Grab the bottle with green cap, place it in the plastic dustbin, then grab the bottle for holding liquids and the bottle with curved body shape for the plastic dustbin.",
+    "Use arms to move the medium plastic bottle with tapered neck, the cylindrical bottle, and the red-labeled soda bottle into the black bin with white liner.",
+    "Transfer the bottle made of smooth plastic, the bottle with narrow neck, and the hand-sized drinking bottle to the black dustbin located to the table's left.",
+    "Pick the yellow bottle and move it into the black garbage bin, repeat for the water bottle with textured body and the black and red bottle.",
+    "Grab the green-striped cap on yellow bottle, put it in the dustbin with white inner bag, follow by moving the blue-accented cylindrical bottle and the black soda bottle with white top there too.",
+    "Pick up the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the rounded bottle with a white neck, moving them one by one into the rectangular black trash holder.",
+    "Lift the green-striped cap on yellow bottle, the bottle with narrow neck, and the black bottle with red label, dropping each into the medium black garbage container sequentially.",
+    "Move the bottle with small ridged green cap, the bottle for holding liquids, and the bottle with curved body shape into the dustbin with lid and bag one by one.",
+    "Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the plastic bottle with red cap in the medium black garbage container using the arms.",
+    "Place the bottle made of smooth plastic, the water bottle with textured body, and the red-labeled soda bottle into the plastic dustbin one after another.",
+    "Put the yellow bottle with smooth texture into the medium black garbage container, followed by the water bottle with textured body and the drink bottle with slim neck.",
+    "Using arms, pick up the medium yellow cylindrical bottle, the medium-sized water bottle, and the bottle with curved body shape, dropping each into the black bin with white liner.",
+    "Transfer the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the drink bottle with slim neck into the medium black garbage container using your arms, one by one.",
+    "Begin with the bottle with small ridged green cap, move it to the black garbage bin, then continue with the cylindrical bottle and the red bottle.",
+    "Move the bottle with green cap into the trash bin, then do the same for the bottle with turquoise cap and the hand-sized drinking bottle.",
+    "Move the bottle made of smooth plastic, the bottle with narrow neck, and the rounded bottle with a white neck to the trash bin sequentially using the arms.",
+    "Place the bottle with small ridged green cap, the medium-sized water bottle, and the bottle with curved body shape into the black bin with white liner after taking them individually.",
+    "Use the arms to move the yellow liquid container with green top into the medium black garbage container, then repeat for the bottle for holding liquids and the plastic bottle with red cap.",
+    "Grab the yellow bottle body with tapered neck and the bottle with narrow neck, put them into the dustbin with lid and bag, and repeat for the plastic bottle with red cap.",
+    "Use arms to grab the medium yellow cylindrical bottle, the hand-sized bottle, the rounded bottle with a white neck, and set them into the smooth black dustbin to the left.",
+    "Use arms to pick the green-striped cap on yellow bottle, the medium-sized water bottle, the black and red bottle, and place them one by one in the black dustbin.",
+    "Pick the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the smooth plastic bottle one at a time and put them into the black dustbin.",
+    "Use the arms to transfer the bottle with small ridged green cap, the cylindrical bottle, and the red and black beverage bottle into the rectangular black trash holder one by one.",
+    "Transfer the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the drink bottle with slim neck into the medium black garbage container step by step.",
+    "Grab the yellow bottle with smooth texture, the clear bottle with blue sections, the smooth plastic bottle, and drop them into the rectangular black trash holder to the left of the table.",
+    "Grab each of the smooth yellow bottle with ridged cap, the bottle with ribbed design, and the black soda bottle with white top and drop them into the smooth black dustbin.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the water bottle with textured body, and the black soda bottle with white top into the plastic dustbin step by step.",
+    "Take the bottle made of smooth plastic, the bottle for holding liquids, and the bottle with curved body shape and place them into the rectangular black trash holder on the left.",
+    "Carry the medium plastic bottle with tapered neck first, drop it into the rectangular black trash holder, repeat with the cylindrical bottle and the black and red bottle.",
+    "Use arms to move the yellow bottle with smooth texture, the bottle for holding liquids, and the bottle with curved body shape to the black dustbin on the table's left.",
+    "Take the medium yellow cylindrical bottle, drop it in the black bin with white liner, then move the medium-sized water bottle and the drink bottle with slim neck to the black bin with white liner.",
+    "Grab the yellow liquid container with green top, the clear bottle with blue sections, and the rounded bottle with a white neck and put them sequentially into the medium black garbage container.",
+    "Using arms, grab the green-striped cap on yellow bottle and put it in the smooth black dustbin, repeat for the blue-accented cylindrical bottle and the black and red bottle.",
+    "Pick the medium plastic bottle with tapered neck, drop it into the black garbage bin, then move the transparent bottle and the smooth plastic bottle into the black garbage bin.",
+    "Pick the green-striped cap on yellow bottle, the medium-sized water bottle, and the red bottle from the table and place them inside the smooth black dustbin.",
+    "Start with the yellow bottle, grab it and drop it into the dustbin with white inner bag, repeat for the cylindrical bottle and the red bottle.",
+    "Use arms to pick the yellow liquid container with green top, drop it in the plastic dustbin, repeat for the transparent bottle and the red and black beverage bottle.",
+    "Grab the yellow bottle, drop it in the medium black garbage container, do the same for the clear bottle with blue sections and the smooth plastic bottle.",
+    "Carefully grab the green-striped cap on yellow bottle, the bottle with narrow neck, and the red-labeled soda bottle and position them in the medium-sized black plastic dustbin.",
+    "Move the bottle with green cap to the black dustbin, then the bottle with narrow neck, and finally the drink bottle with slim neck.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and place it in the dustbin with white inner bag, do the same for the smooth transparent plastic bottle and the red-labeled soda bottle.",
+    "With arms, place the yellow bottle body with tapered neck, the hand-sized bottle, and the black soda bottle with white top into the trash bin step by step.",
+    "Take the cylindrical yellow bottle for holding liquids with arms, put it in the dustbin with lid and bag, repeat the same for the transparent bottle and the red and black beverage bottle.",
+    "Use arms to pick the medium yellow cylindrical bottle, the hand-sized bottle, and the smooth plastic bottle, dropping them into the dustbin with white inner bag.",
+    "Grab the bottle with green cap, the smooth transparent plastic bottle, and the drink bottle with slim neck sequentially, placing each into the medium-sized black plastic dustbin.",
+    "Drop the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the smooth plastic bottle into the medium-sized black plastic dustbin, handling them one at a time.",
+    "Using arms, grab the medium yellow cylindrical bottle and the hand-sized bottle, then place them into the black garbage bin along with the red and black beverage bottle.",
+    "Use arms to pick the green-striped cap on yellow bottle, the bottle with narrow neck, and the black and red bottle and place them in the black and white trash holder.",
+    "Take the bottle with green cap, the hand-sized bottle, and the smooth plastic bottle one at a time and place them into the medium black garbage container.",
+    "Place the smooth yellow bottle with ridged cap, the hand-sized bottle, and the black soda bottle with white top, one at a time, into the plastic dustbin.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the trash bin, then grab the blue-accented cylindrical bottle and the rounded bottle with a white neck for the trash bin.",
+    "Use arms to move the yellow bottle with smooth texture, the medium-sized water bottle, and the smooth plastic bottle into the dustbin with lid and bag.",
+    "Transfer the smooth yellow bottle with ridged cap, the hand-sized bottle, and the hand-sized drinking bottle to the dustbin with lid and bag located to the table's left.",
+    "Pick the bottle made of smooth plastic and move it into the smooth black dustbin, repeat for the smooth transparent plastic bottle and the rounded bottle with a white neck.",
+    "Grab the smooth yellow bottle with ridged cap, put it in the black and white trash holder, follow by moving the hand-sized bottle and the rounded bottle with a white neck there too.",
+    "Pick up the yellow bottle body with tapered neck, the clear bottle with blue sections, and the bottle with curved body shape, moving them one by one into the plastic dustbin.",
+    "Lift the green-striped cap on yellow bottle, the hand-sized bottle, and the smooth plastic bottle, dropping each into the medium-sized black plastic dustbin sequentially.",
+    "Move the green-striped cap on yellow bottle, the bottle for holding liquids, and the smooth plastic bottle into the black and white trash holder one by one.",
+    "Place the bottle with small ridged green cap, the medium-sized water bottle, and the plastic bottle with red cap in the smooth black dustbin using the arms.",
+    "Place the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the hand-sized drinking bottle into the medium black garbage container one after another.",
+    "Put the bottle with small ridged green cap into the medium-sized black plastic dustbin, followed by the bottle with ribbed design and the hand-sized drinking bottle.",
+    "Using arms, pick up the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the rounded bottle with a white neck, dropping each into the medium black garbage container.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red and black beverage bottle into the dustbin with white inner bag using your arms, one by one.",
+    "Begin with the bottle made of smooth plastic, move it to the plastic dustbin, then continue with the bottle with turquoise cap and the hand-sized drinking bottle.",
+    "Move the green-striped cap on yellow bottle into the black dustbin, then do the same for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Move the bottle made of smooth plastic, the bottle with ribbed design, and the plastic bottle with red cap to the medium-sized black plastic dustbin sequentially using the arms.",
+    "Place the yellow bottle with smooth texture, the bottle for holding liquids, and the black and red bottle into the black dustbin after taking them individually.",
+    "Use the arms to move the bottle with green cap into the black bin with white liner, then repeat for the bottle with turquoise cap and the black soda bottle with white top.",
+    "Grab the green-striped cap on yellow bottle and the clear bottle with blue sections, put them into the rectangular black trash holder, and repeat for the black soda bottle with white top.",
+    "Use arms to grab the yellow bottle with smooth texture, the blue-accented cylindrical bottle, the smooth plastic bottle, and set them into the black garbage bin to the left."
+  ],
+  "unseen": [
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode11.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..706a08c797c3a61e8dc2f57abe719690795b813d
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow bottle, the medium-sized water bottle, and the drink bottle with slim neck, moving them one by one into the rectangular black trash holder.",
+    "Drop the yellow bottle, the bottle with turquoise cap, and the hand-sized drinking bottle into the trash bin, handling them one at a time.",
+    "Start with the medium plastic bottle with tapered neck, grab it and drop it into the black garbage bin, repeat for the cylindrical bottle and the red and black beverage bottle.",
+    "Using arms, grab the medium plastic bottle with tapered neck and the water bottle with textured body, then place them into the plastic dustbin along with the hand-sized drinking bottle.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the rectangular black trash holder, then grab the medium-sized water bottle and the hand-sized drinking bottle for the rectangular black trash holder.",
+    "Move the green-striped cap on yellow bottle, the medium-sized water bottle, and the red-labeled soda bottle to the dustbin with white inner bag sequentially using the arms.",
+    "Pick the bottle made of smooth plastic, drop it into the dustbin with white inner bag, then move the water bottle with textured body and the hand-sized drinking bottle into the dustbin with white inner bag.",
+    "Use arms to pick the bottle with small ridged green cap, drop it in the dustbin with lid and bag, repeat for the smooth transparent plastic bottle and the drink bottle with slim neck.",
+    "Take the medium plastic bottle with tapered neck, drop it in the medium black garbage container, then move the bottle for holding liquids and the black and red bottle to the medium black garbage container.",
+    "Move the smooth yellow bottle with ridged cap into the black bin with white liner, then do the same for the hand-sized bottle and the black soda bottle with white top.",
+    "Move the bottle made of smooth plastic to the black dustbin, then the water bottle with textured body, and finally the bottle with curved body shape.",
+    "With arms, place the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the red and black beverage bottle into the dustbin with white inner bag step by step.",
+    "Pick the yellow liquid container with green top, the transparent bottle, and the red bottle one at a time and put them into the black and white trash holder.",
+    "Grab the green-striped cap on yellow bottle, the clear bottle with blue sections, and the rounded bottle with a white neck and put them sequentially into the black dustbin.",
+    "Use the arms to transfer the bottle with green cap, the medium-sized water bottle, and the black soda bottle with white top into the smooth black dustbin one by one.",
+    "Use arms to grab the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, the rounded bottle with a white neck, and set them into the dustbin with white inner bag to the left.",
+    "Transfer the yellow bottle, the clear bottle with blue sections, and the rounded bottle with a white neck into the black and white trash holder using your arms, one by one.",
+    "Put the yellow bottle into the rectangular black trash holder, followed by the bottle with narrow neck and the black and red bottle.",
+    "Grab each of the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the black soda bottle with white top and drop them into the dustbin with white inner bag.",
+    "Pick the bottle with small ridged green cap, the hand-sized bottle, and the black and red bottle from the table and place them inside the smooth black dustbin.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the hand-sized drinking bottle and place them in the dustbin with white inner bag.",
+    "Place the green-striped cap on yellow bottle, the transparent bottle, and the black soda bottle with white top, one at a time, into the plastic dustbin.",
+    "Place the smooth yellow bottle with ridged cap, the cylindrical bottle, and the smooth plastic bottle into the dustbin with lid and bag after taking them individually.",
+    "Take the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the red and black beverage bottle one at a time and place them into the rectangular black trash holder.",
+    "Grab the medium plastic bottle with tapered neck, the bottle with narrow neck, the bottle with curved body shape, and drop them into the dustbin with lid and bag to the left of the table.",
+    "Use arms to pick the bottle with green cap, the cylindrical bottle, and the rounded bottle with a white neck, dropping them into the medium-sized black plastic dustbin.",
+    "Lift the green-striped cap on yellow bottle, the bottle with turquoise cap, and the smooth plastic bottle, dropping each into the smooth black dustbin sequentially.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and place it in the plastic dustbin, do the same for the water bottle with textured body and the drink bottle with slim neck.",
+    "Use the arms to move the medium plastic bottle with tapered neck into the black and white trash holder, then repeat for the smooth transparent plastic bottle and the red bottle.",
+    "Begin with the medium plastic bottle with tapered neck, move it to the black garbage bin, then continue with the bottle with ribbed design and the red bottle.",
+    "Place the green-striped cap on yellow bottle, the bottle for holding liquids, and the rounded bottle with a white neck into the black dustbin one after another.",
+    "Use arms to pick the bottle made of smooth plastic, the bottle with ribbed design, the hand-sized drinking bottle, and place them one by one in the dustbin with lid and bag.",
+    "Move the bottle with small ridged green cap, the bottle with narrow neck, and the black and red bottle into the black garbage bin one by one.",
+    "Carry the yellow bottle with smooth texture first, drop it into the smooth black dustbin, repeat with the hand-sized bottle and the rounded bottle with a white neck.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the transparent bottle, and the rounded bottle with a white neck into the medium black garbage container step by step.",
+    "Grab the bottle with small ridged green cap, put it in the black garbage bin, follow by moving the cylindrical bottle and the plastic bottle with red cap there too.",
+    "Use arms to move the yellow bottle with smooth texture, the clear bottle with blue sections, and the black and red bottle into the black and white trash holder.",
+    "Carefully grab the yellow liquid container with green top, the smooth transparent plastic bottle, and the bottle with curved body shape and position them in the rectangular black trash holder.",
+    "Grab the smooth yellow bottle with ridged cap, drop it in the plastic dustbin, do the same for the smooth transparent plastic bottle and the drink bottle with slim neck.",
+    "Using arms, pick up the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the smooth plastic bottle, dropping each into the plastic dustbin.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the black garbage bin, repeat for the medium-sized water bottle and the black bottle with red label.",
+    "Transfer the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the red and black beverage bottle to the medium black garbage container located to the table's left.",
+    "Use arms to move the medium yellow cylindrical bottle, the bottle with ribbed design, and the hand-sized drinking bottle to the dustbin with lid and bag on the table's left.",
+    "Transfer the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the black soda bottle with white top into the black and white trash holder step by step.",
+    "Place the green-striped cap on yellow bottle, the medium-sized water bottle, and the hand-sized drinking bottle in the trash bin using the arms.",
+    "Take the bottle with small ridged green cap, the bottle with ribbed design, and the black and red bottle and place them into the dustbin with white inner bag on the left.",
+    "Grab the yellow bottle with smooth texture and the medium-sized water bottle, put them into the black bin with white liner, and repeat for the smooth plastic bottle.",
+    "Grab the bottle with small ridged green cap, the bottle with ribbed design, and the smooth plastic bottle sequentially, placing each into the trash bin.",
+    "Pick the bottle made of smooth plastic and move it into the dustbin with lid and bag, repeat for the medium-sized water bottle and the black bottle with red label.",
+    "Take the cylindrical yellow bottle for holding liquids with arms, put it in the plastic dustbin, repeat the same for the transparent bottle and the black bottle with red label.",
+    "Pick up the yellow liquid container with green top, the smooth transparent plastic bottle, and the smooth plastic bottle, moving them one by one into the smooth black dustbin.",
+    "Drop the medium plastic bottle with tapered neck, the bottle for holding liquids, and the plastic bottle with red cap into the black dustbin, handling them one at a time.",
+    "Start with the cylindrical yellow bottle for holding liquids, grab it and drop it into the dustbin with lid and bag, repeat for the cylindrical bottle and the red bottle.",
+    "Using arms, grab the medium yellow cylindrical bottle and the water bottle with textured body, then place them into the plastic dustbin along with the black bottle with red label.",
+    "Grab the cylindrical yellow bottle for holding liquids, place it in the smooth black dustbin, then grab the bottle with turquoise cap and the black and red bottle for the smooth black dustbin.",
+    "Move the medium plastic bottle with tapered neck, the hand-sized bottle, and the bottle with curved body shape to the smooth black dustbin sequentially using the arms.",
+    "Pick the medium yellow cylindrical bottle, drop it into the black dustbin, then move the bottle with narrow neck and the drink bottle with slim neck into the black dustbin.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the dustbin with white inner bag, repeat for the cylindrical bottle and the red-labeled soda bottle.",
+    "Take the smooth yellow bottle with ridged cap, drop it in the black dustbin, then move the transparent bottle and the red and black beverage bottle to the black dustbin.",
+    "Move the yellow bottle body with tapered neck into the black dustbin, then do the same for the bottle with ribbed design and the black bottle with red label.",
+    "Move the cylindrical yellow bottle for holding liquids to the dustbin with white inner bag, then the bottle with ribbed design, and finally the black and red bottle.",
+    "With arms, place the yellow bottle body with tapered neck, the bottle with narrow neck, and the bottle with curved body shape into the black dustbin step by step.",
+    "Pick the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the black and red bottle one at a time and put them into the medium black garbage container.",
+    "Grab the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the black soda bottle with white top and put them sequentially into the black and white trash holder.",
+    "Use the arms to transfer the bottle with small ridged green cap, the cylindrical bottle, and the drink bottle with slim neck into the dustbin with lid and bag one by one.",
+    "Use arms to grab the green-striped cap on yellow bottle, the bottle for holding liquids, the black and red bottle, and set them into the dustbin with white inner bag to the left.",
+    "Transfer the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black soda bottle with white top into the medium black garbage container using your arms, one by one.",
+    "Put the yellow bottle body with tapered neck into the medium black garbage container, followed by the transparent bottle and the red bottle.",
+    "Grab each of the smooth yellow bottle with ridged cap, the water bottle with textured body, and the red-labeled soda bottle and drop them into the plastic dustbin.",
+    "Pick the medium yellow cylindrical bottle, the cylindrical bottle, and the hand-sized drinking bottle from the table and place them inside the medium black garbage container.",
+    "Use arms to pick the yellow bottle body with tapered neck, the bottle with ribbed design, and the drink bottle with slim neck and place them in the rectangular black trash holder.",
+    "Place the yellow bottle with smooth texture, the bottle with ribbed design, and the smooth plastic bottle, one at a time, into the plastic dustbin.",
+    "Place the bottle with small ridged green cap, the smooth transparent plastic bottle, and the hand-sized drinking bottle into the dustbin with lid and bag after taking them individually.",
+    "Take the bottle with green cap, the transparent bottle, and the red-labeled soda bottle one at a time and place them into the trash bin.",
+    "Grab the bottle with small ridged green cap, the bottle with turquoise cap, the red bottle, and drop them into the black dustbin to the left of the table.",
+    "Use arms to pick the bottle made of smooth plastic, the medium-sized water bottle, and the smooth plastic bottle, dropping them into the rectangular black trash holder.",
+    "Lift the bottle with small ridged green cap, the water bottle with textured body, and the red bottle, dropping each into the medium black garbage container sequentially.",
+    "Using arms, grab the yellow liquid container with green top and place it in the medium black garbage container, do the same for the bottle for holding liquids and the black soda bottle with white top.",
+    "Use the arms to move the green-striped cap on yellow bottle into the dustbin with white inner bag, then repeat for the bottle with turquoise cap and the black bottle with red label.",
+    "Begin with the green-striped cap on yellow bottle, move it to the black bin with white liner, then continue with the transparent bottle and the black bottle with red label.",
+    "Place the yellow bottle, the water bottle with textured body, and the black bottle with red label into the medium-sized black plastic dustbin one after another.",
+    "Use arms to pick the bottle made of smooth plastic, the smooth transparent plastic bottle, the bottle with curved body shape, and place them one by one in the plastic dustbin.",
+    "Move the bottle with small ridged green cap, the bottle with narrow neck, and the black and red bottle into the medium-sized black plastic dustbin one by one.",
+    "Carry the medium plastic bottle with tapered neck first, drop it into the rectangular black trash holder, repeat with the bottle for holding liquids and the black and red bottle.",
+    "Use the arms to transfer the yellow liquid container with green top, the bottle for holding liquids, and the black bottle with red label into the medium black garbage container step by step.",
+    "Grab the bottle with green cap, put it in the plastic dustbin, follow by moving the water bottle with textured body and the plastic bottle with red cap there too.",
+    "Use arms to move the bottle made of smooth plastic, the bottle for holding liquids, and the smooth plastic bottle into the medium black garbage container.",
+    "Carefully grab the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black and red bottle and position them in the black bin with white liner.",
+    "Grab the bottle with small ridged green cap, drop it in the rectangular black trash holder, do the same for the hand-sized bottle and the hand-sized drinking bottle.",
+    "Using arms, pick up the yellow bottle with smooth texture, the bottle with narrow neck, and the rounded bottle with a white neck, dropping each into the medium-sized black plastic dustbin.",
+    "Using arms, grab the green-striped cap on yellow bottle and put it in the black garbage bin, repeat for the smooth transparent plastic bottle and the plastic bottle with red cap.",
+    "Transfer the yellow bottle body with tapered neck, the bottle for holding liquids, and the smooth plastic bottle to the black dustbin located to the table's left.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the black bottle with red label to the black dustbin on the table's left.",
+    "Transfer the bottle with green cap, the water bottle with textured body, and the black soda bottle with white top into the medium-sized black plastic dustbin step by step.",
+    "Place the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the black and red bottle in the medium black garbage container using the arms.",
+    "Take the yellow bottle with smooth texture, the blue-accented cylindrical bottle, and the red bottle and place them into the medium black garbage container on the left.",
+    "Grab the yellow bottle and the clear bottle with blue sections, put them into the black garbage bin, and repeat for the hand-sized drinking bottle.",
+    "Grab the green-striped cap on yellow bottle, the water bottle with textured body, and the red bottle sequentially, placing each into the plastic dustbin.",
+    "Pick the medium yellow cylindrical bottle and move it into the dustbin with white inner bag, repeat for the bottle with turquoise cap and the black bottle with red label.",
+    "Take the yellow bottle with arms, put it in the trash bin, repeat the same for the bottle for holding liquids and the rounded bottle with a white neck."
+  ],
+  "unseen": [
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode12.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..92559c439f2a209cc21992831076880d8cb89825
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow bottle with smooth texture, drop it in the dustbin with lid and bag, then move the hand-sized bottle and the red-labeled soda bottle to the dustbin with lid and bag.",
+    "Transfer the bottle with small ridged green cap, the bottle with ribbed design, and the red bottle into the trash bin step by step.",
+    "Pick the green-striped cap on yellow bottle, the bottle for holding liquids, and the hand-sized drinking bottle from the table and place them inside the dustbin with white inner bag.",
+    "Use arms to pick the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, the red and black beverage bottle, and place them one by one in the black garbage bin.",
+    "Use arms to pick the bottle made of smooth plastic, the bottle for holding liquids, and the red and black beverage bottle and place them in the rectangular black trash holder.",
+    "Grab the green-striped cap on yellow bottle, place it in the black garbage bin, then grab the bottle for holding liquids and the black soda bottle with white top for the black garbage bin.",
+    "Pick up the bottle with small ridged green cap, the medium-sized water bottle, and the smooth plastic bottle, moving them one by one into the trash bin.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the smooth plastic bottle to the black bin with white liner on the table's left.",
+    "Carefully grab the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black bottle with red label and position them in the medium-sized black plastic dustbin.",
+    "Take the medium plastic bottle with tapered neck, the cylindrical bottle, and the red-labeled soda bottle and place them into the medium black garbage container on the left.",
+    "Place the yellow liquid container with green top, the smooth transparent plastic bottle, and the red-labeled soda bottle into the dustbin with white inner bag one after another.",
+    "Grab the bottle with small ridged green cap, put it in the trash bin, follow by moving the bottle with turquoise cap and the red-labeled soda bottle there too.",
+    "Using arms, grab the yellow bottle with smooth texture and the clear bottle with blue sections, then place them into the medium-sized black plastic dustbin along with the smooth plastic bottle.",
+    "Using arms, pick up the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the drink bottle with slim neck, dropping each into the black bin with white liner.",
+    "Move the yellow liquid container with green top to the dustbin with white inner bag, then the bottle for holding liquids, and finally the black and red bottle.",
+    "Use arms to move the bottle with green cap, the medium-sized water bottle, and the rounded bottle with a white neck into the black dustbin.",
+    "Transfer the bottle with green cap, the transparent bottle, and the red-labeled soda bottle to the black garbage bin located to the table's left.",
+    "Drop the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the red and black beverage bottle into the smooth black dustbin, handling them one at a time.",
+    "Pick the bottle with green cap, the blue-accented cylindrical bottle, and the black and red bottle one at a time and put them into the black garbage bin.",
+    "Put the yellow bottle body with tapered neck into the rectangular black trash holder, followed by the blue-accented cylindrical bottle and the drink bottle with slim neck.",
+    "Move the yellow bottle with smooth texture, the water bottle with textured body, and the drink bottle with slim neck to the medium-sized black plastic dustbin sequentially using the arms.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, drop it in the black and white trash holder, repeat for the water bottle with textured body and the drink bottle with slim neck.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and put it in the black garbage bin, repeat for the bottle with narrow neck and the drink bottle with slim neck.",
+    "Take the yellow liquid container with green top with arms, put it in the dustbin with white inner bag, repeat the same for the bottle with turquoise cap and the smooth plastic bottle.",
+    "Start with the medium yellow cylindrical bottle, grab it and drop it into the dustbin with white inner bag, repeat for the bottle for holding liquids and the red-labeled soda bottle.",
+    "Move the yellow bottle with smooth texture, the cylindrical bottle, and the bottle with curved body shape into the smooth black dustbin one by one.",
+    "Use arms to grab the yellow bottle with smooth texture, the clear bottle with blue sections, the red and black beverage bottle, and set them into the black and white trash holder to the left.",
+    "Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the red bottle into the medium black garbage container after taking them individually.",
+    "Use the arms to transfer the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the black bottle with red label into the trash bin step by step.",
+    "Grab the green-striped cap on yellow bottle, the clear bottle with blue sections, and the rounded bottle with a white neck sequentially, placing each into the black garbage bin.",
+    "Pick the bottle with green cap, drop it into the black dustbin, then move the bottle for holding liquids and the black and red bottle into the black dustbin.",
+    "Move the medium plastic bottle with tapered neck into the medium black garbage container, then do the same for the bottle with turquoise cap and the red bottle.",
+    "Grab the green-striped cap on yellow bottle, the bottle for holding liquids, and the black and red bottle and put them sequentially into the plastic dustbin.",
+    "Carry the bottle made of smooth plastic first, drop it into the plastic dustbin, repeat with the bottle with ribbed design and the red and black beverage bottle.",
+    "Grab the smooth yellow bottle with ridged cap, the clear bottle with blue sections, the rounded bottle with a white neck, and drop them into the black garbage bin to the left of the table.",
+    "Place the bottle with green cap, the bottle with turquoise cap, and the rounded bottle with a white neck, one at a time, into the plastic dustbin.",
+    "Grab the bottle with green cap, drop it in the rectangular black trash holder, do the same for the bottle with turquoise cap and the red and black beverage bottle.",
+    "Grab each of the yellow bottle with smooth texture, the bottle with narrow neck, and the black soda bottle with white top and drop them into the black dustbin.",
+    "Begin with the medium plastic bottle with tapered neck, move it to the dustbin with white inner bag, then continue with the bottle with narrow neck and the red bottle.",
+    "Using arms, grab the yellow bottle with smooth texture and place it in the medium-sized black plastic dustbin, do the same for the bottle with ribbed design and the smooth plastic bottle.",
+    "Grab the smooth yellow bottle with ridged cap and the cylindrical bottle, put them into the black and white trash holder, and repeat for the black bottle with red label.",
+    "Pick the bottle with green cap and move it into the rectangular black trash holder, repeat for the cylindrical bottle and the rounded bottle with a white neck.",
+    "Place the smooth yellow bottle with ridged cap, the transparent bottle, and the drink bottle with slim neck in the black and white trash holder using the arms.",
+    "Lift the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the black soda bottle with white top, dropping each into the medium black garbage container sequentially.",
+    "With arms, place the yellow bottle with smooth texture, the bottle with ribbed design, and the drink bottle with slim neck into the black bin with white liner step by step.",
+    "Take the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the smooth plastic bottle one at a time and place them into the smooth black dustbin.",
+    "Transfer the yellow liquid container with green top, the water bottle with textured body, and the red-labeled soda bottle into the medium-sized black plastic dustbin using your arms, one by one.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the cylindrical bottle, and the rounded bottle with a white neck into the rectangular black trash holder one by one.",
+    "Use arms to pick the bottle with small ridged green cap, the water bottle with textured body, and the black soda bottle with white top, dropping them into the black and white trash holder.",
+    "Use the arms to move the yellow bottle with smooth texture into the black garbage bin, then repeat for the smooth transparent plastic bottle and the bottle with curved body shape.",
+    "Take the cylindrical yellow bottle for holding liquids, drop it in the plastic dustbin, then move the smooth transparent plastic bottle and the smooth plastic bottle to the plastic dustbin.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the black and red bottle into the black bin with white liner step by step.",
+    "Pick the yellow bottle body with tapered neck, the bottle with narrow neck, and the rounded bottle with a white neck from the table and place them inside the trash bin.",
+    "Use arms to pick the yellow bottle with smooth texture, the water bottle with textured body, the rounded bottle with a white neck, and place them one by one in the medium black garbage container.",
+    "Use arms to pick the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the plastic bottle with red cap and place them in the medium-sized black plastic dustbin.",
+    "Grab the yellow bottle with smooth texture, place it in the medium black garbage container, then grab the hand-sized bottle and the hand-sized drinking bottle for the medium black garbage container.",
+    "Pick up the yellow bottle with smooth texture, the water bottle with textured body, and the bottle with curved body shape, moving them one by one into the black garbage bin.",
+    "Use arms to move the bottle made of smooth plastic, the bottle with turquoise cap, and the red-labeled soda bottle to the black garbage bin on the table's left.",
+    "Carefully grab the bottle made of smooth plastic, the clear bottle with blue sections, and the hand-sized drinking bottle and position them in the plastic dustbin.",
+    "Take the smooth yellow bottle with ridged cap, the cylindrical bottle, and the red and black beverage bottle and place them into the rectangular black trash holder on the left.",
+    "Place the yellow liquid container with green top, the bottle with turquoise cap, and the hand-sized drinking bottle into the medium-sized black plastic dustbin one after another.",
+    "Grab the bottle with small ridged green cap, put it in the medium-sized black plastic dustbin, follow by moving the medium-sized water bottle and the black and red bottle there too.",
+    "Using arms, grab the bottle with small ridged green cap and the medium-sized water bottle, then place them into the black and white trash holder along with the drink bottle with slim neck.",
+    "Using arms, pick up the bottle with green cap, the bottle with turquoise cap, and the hand-sized drinking bottle, dropping each into the medium-sized black plastic dustbin.",
+    "Move the cylindrical yellow bottle for holding liquids to the medium-sized black plastic dustbin, then the bottle for holding liquids, and finally the drink bottle with slim neck.",
+    "Use arms to move the yellow liquid container with green top, the bottle with ribbed design, and the rounded bottle with a white neck into the medium-sized black plastic dustbin.",
+    "Transfer the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the black soda bottle with white top to the plastic dustbin located to the table's left.",
+    "Drop the medium plastic bottle with tapered neck, the bottle for holding liquids, and the black and red bottle into the plastic dustbin, handling them one at a time.",
+    "Pick the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the bottle with curved body shape one at a time and put them into the smooth black dustbin.",
+    "Put the bottle with small ridged green cap into the black and white trash holder, followed by the bottle for holding liquids and the red bottle.",
+    "Move the yellow bottle with smooth texture, the bottle for holding liquids, and the red-labeled soda bottle to the black bin with white liner sequentially using the arms.",
+    "Use arms to pick the yellow bottle body with tapered neck, drop it in the black bin with white liner, repeat for the bottle for holding liquids and the hand-sized drinking bottle.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the black garbage bin, repeat for the transparent bottle and the red bottle.",
+    "Take the smooth yellow bottle with ridged cap with arms, put it in the medium black garbage container, repeat the same for the cylindrical bottle and the smooth plastic bottle.",
+    "Start with the bottle with small ridged green cap, grab it and drop it into the black garbage bin, repeat for the bottle with ribbed design and the red and black beverage bottle.",
+    "Move the yellow liquid container with green top, the transparent bottle, and the black and red bottle into the trash bin one by one.",
+    "Use arms to grab the yellow bottle with smooth texture, the smooth transparent plastic bottle, the plastic bottle with red cap, and set them into the dustbin with white inner bag to the left.",
+    "Place the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the red and black beverage bottle into the dustbin with white inner bag after taking them individually.",
+    "Use the arms to transfer the bottle with small ridged green cap, the hand-sized bottle, and the red and black beverage bottle into the dustbin with lid and bag step by step.",
+    "Grab the bottle with green cap, the clear bottle with blue sections, and the bottle with curved body shape sequentially, placing each into the smooth black dustbin.",
+    "Pick the smooth yellow bottle with ridged cap, drop it into the trash bin, then move the bottle with turquoise cap and the red bottle into the trash bin.",
+    "Move the yellow bottle with smooth texture into the rectangular black trash holder, then do the same for the clear bottle with blue sections and the black soda bottle with white top.",
+    "Grab the bottle made of smooth plastic, the bottle with turquoise cap, and the drink bottle with slim neck and put them sequentially into the dustbin with lid and bag.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the medium-sized black plastic dustbin, repeat with the bottle for holding liquids and the plastic bottle with red cap.",
+    "Grab the green-striped cap on yellow bottle, the medium-sized water bottle, the drink bottle with slim neck, and drop them into the rectangular black trash holder to the left of the table.",
+    "Place the yellow bottle, the bottle with turquoise cap, and the red-labeled soda bottle, one at a time, into the plastic dustbin.",
+    "Grab the green-striped cap on yellow bottle, drop it in the black and white trash holder, do the same for the smooth transparent plastic bottle and the plastic bottle with red cap.",
+    "Grab each of the medium plastic bottle with tapered neck, the transparent bottle, and the red bottle and drop them into the plastic dustbin.",
+    "Begin with the yellow bottle with smooth texture, move it to the smooth black dustbin, then continue with the bottle with ribbed design and the bottle with curved body shape.",
+    "Using arms, grab the yellow bottle and place it in the medium-sized black plastic dustbin, do the same for the bottle for holding liquids and the black bottle with red label.",
+    "Grab the medium yellow cylindrical bottle and the medium-sized water bottle, put them into the plastic dustbin, and repeat for the black soda bottle with white top.",
+    "Pick the bottle with green cap and move it into the black garbage bin, repeat for the cylindrical bottle and the bottle with curved body shape.",
+    "Place the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the plastic bottle with red cap in the black bin with white liner using the arms.",
+    "Lift the bottle with green cap, the bottle for holding liquids, and the bottle with curved body shape, dropping each into the black dustbin sequentially.",
+    "With arms, place the smooth yellow bottle with ridged cap, the cylindrical bottle, and the black bottle with red label into the dustbin with lid and bag step by step.",
+    "Take the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the bottle with curved body shape one at a time and place them into the black dustbin.",
+    "Transfer the bottle with small ridged green cap, the cylindrical bottle, and the drink bottle with slim neck into the rectangular black trash holder using your arms, one by one.",
+    "Use the arms to transfer the bottle with green cap, the smooth transparent plastic bottle, and the black bottle with red label into the dustbin with white inner bag one by one.",
+    "Use arms to pick the yellow bottle, the cylindrical bottle, and the bottle with curved body shape, dropping them into the trash bin.",
+    "Use the arms to move the bottle with small ridged green cap into the black dustbin, then repeat for the bottle with narrow neck and the black soda bottle with white top."
+  ],
+  "unseen": [
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode13.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ff11dcd9c2bc400066683154e28d3af4b06886
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bottle with green cap, the blue-accented cylindrical bottle, and the black and red bottle in the trash bin using the arms.",
+    "Move the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the drink bottle with slim neck into the dustbin with lid and bag one by one.",
+    "Carefully grab the yellow bottle with smooth texture, the transparent bottle, and the bottle with curved body shape and position them in the black and white trash holder.",
+    "Grab the yellow bottle body with tapered neck, put it in the plastic dustbin, follow by moving the bottle with turquoise cap and the red bottle there too.",
+    "Start with the yellow bottle, grab it and drop it into the black garbage bin, repeat for the medium-sized water bottle and the red-labeled soda bottle.",
+    "Lift the smooth yellow bottle with ridged cap, the hand-sized bottle, and the hand-sized drinking bottle, dropping each into the dustbin with lid and bag sequentially.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the smooth black dustbin, repeat for the clear bottle with blue sections and the black soda bottle with white top.",
+    "Place the yellow bottle with smooth texture, the water bottle with textured body, and the red and black beverage bottle into the black bin with white liner one after another.",
+    "Using arms, grab the yellow liquid container with green top and place it in the medium black garbage container, do the same for the bottle with turquoise cap and the red-labeled soda bottle.",
+    "Move the yellow liquid container with green top into the black dustbin, then do the same for the transparent bottle and the rounded bottle with a white neck.",
+    "Use the arms to transfer the green-striped cap on yellow bottle, the medium-sized water bottle, and the black soda bottle with white top into the medium black garbage container step by step.",
+    "With arms, place the yellow bottle body with tapered neck, the bottle with turquoise cap, and the red-labeled soda bottle into the black bin with white liner step by step.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, drop it in the black garbage bin, repeat for the water bottle with textured body and the rounded bottle with a white neck.",
+    "Grab the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the red bottle and put them sequentially into the dustbin with white inner bag.",
+    "Move the yellow liquid container with green top, the bottle for holding liquids, and the smooth plastic bottle to the dustbin with white inner bag sequentially using the arms.",
+    "Begin with the bottle made of smooth plastic, move it to the medium-sized black plastic dustbin, then continue with the water bottle with textured body and the hand-sized drinking bottle.",
+    "Use arms to pick the medium yellow cylindrical bottle, the bottle for holding liquids, the smooth plastic bottle, and place them one by one in the smooth black dustbin.",
+    "Pick the green-striped cap on yellow bottle, the bottle with turquoise cap, and the red and black beverage bottle from the table and place them inside the smooth black dustbin.",
+    "Using arms, pick up the cylindrical yellow bottle for holding liquids, the transparent bottle, and the hand-sized drinking bottle, dropping each into the smooth black dustbin.",
+    "Use the arms to move the medium yellow cylindrical bottle into the black dustbin, then repeat for the water bottle with textured body and the hand-sized drinking bottle.",
+    "Grab the medium plastic bottle with tapered neck, the water bottle with textured body, the red and black beverage bottle, and drop them into the dustbin with lid and bag to the left of the table.",
+    "Grab the cylindrical yellow bottle for holding liquids, the transparent bottle, and the red-labeled soda bottle sequentially, placing each into the black garbage bin.",
+    "Take the medium yellow cylindrical bottle, drop it in the trash bin, then move the bottle for holding liquids and the drink bottle with slim neck to the trash bin.",
+    "Carry the medium plastic bottle with tapered neck first, drop it into the medium-sized black plastic dustbin, repeat with the transparent bottle and the red-labeled soda bottle.",
+    "Drop the bottle with small ridged green cap, the clear bottle with blue sections, and the black soda bottle with white top into the medium-sized black plastic dustbin, handling them one at a time.",
+    "Take the green-striped cap on yellow bottle, the water bottle with textured body, and the smooth plastic bottle one at a time and place them into the smooth black dustbin.",
+    "Pick up the yellow bottle body with tapered neck, the water bottle with textured body, and the smooth plastic bottle, moving them one by one into the medium black garbage container.",
+    "Transfer the medium yellow cylindrical bottle, the clear bottle with blue sections, and the red and black beverage bottle to the plastic dustbin located to the table's left.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the black garbage bin, then grab the bottle with ribbed design and the red and black beverage bottle for the black garbage bin.",
+    "Use arms to grab the smooth yellow bottle with ridged cap, the transparent bottle, the red-labeled soda bottle, and set them into the black bin with white liner to the left.",
+    "Pick the medium plastic bottle with tapered neck, drop it into the black garbage bin, then move the bottle for holding liquids and the black soda bottle with white top into the black garbage bin.",
+    "Grab the bottle with small ridged green cap, drop it in the plastic dustbin, do the same for the blue-accented cylindrical bottle and the bottle with curved body shape.",
+    "Place the bottle made of smooth plastic, the bottle for holding liquids, and the drink bottle with slim neck into the black garbage bin after taking them individually.",
+    "Pick the medium yellow cylindrical bottle, the bottle with ribbed design, and the red and black beverage bottle one at a time and put them into the plastic dustbin.",
+    "Use arms to move the medium plastic bottle with tapered neck, the medium-sized water bottle, and the black and red bottle to the black garbage bin on the table's left.",
+    "Put the bottle made of smooth plastic into the medium-sized black plastic dustbin, followed by the clear bottle with blue sections and the black and red bottle.",
+    "Use arms to pick the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the red-labeled soda bottle, dropping them into the plastic dustbin.",
+    "Grab the bottle with green cap and the bottle with turquoise cap, put them into the medium black garbage container, and repeat for the red and black beverage bottle.",
+    "Transfer the green-striped cap on yellow bottle, the medium-sized water bottle, and the plastic bottle with red cap into the plastic dustbin step by step.",
+    "Transfer the yellow bottle, the clear bottle with blue sections, and the drink bottle with slim neck into the black bin with white liner using your arms, one by one.",
+    "Take the smooth yellow bottle with ridged cap with arms, put it in the medium-sized black plastic dustbin, repeat the same for the hand-sized bottle and the rounded bottle with a white neck.",
+    "Grab each of the medium plastic bottle with tapered neck, the bottle for holding liquids, and the smooth plastic bottle and drop them into the rectangular black trash holder.",
+    "Use arms to move the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the hand-sized drinking bottle into the medium-sized black plastic dustbin.",
+    "Place the yellow bottle, the hand-sized bottle, and the drink bottle with slim neck, one at a time, into the smooth black dustbin.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the water bottle with textured body, and the black soda bottle with white top into the rectangular black trash holder one by one.",
+    "Pick the bottle with small ridged green cap and move it into the smooth black dustbin, repeat for the medium-sized water bottle and the red bottle.",
+    "Using arms, grab the bottle with green cap and the water bottle with textured body, then place them into the black dustbin along with the drink bottle with slim neck.",
+    "Take the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black soda bottle with white top and place them into the black bin with white liner on the left.",
+    "Move the bottle with green cap to the rectangular black trash holder, then the bottle with ribbed design, and finally the red bottle.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red-labeled soda bottle and place them in the medium black garbage container.",
+    "Place the medium plastic bottle with tapered neck, the bottle with ribbed design, and the bottle with curved body shape in the black and white trash holder using the arms.",
+    "Move the yellow liquid container with green top, the bottle with narrow neck, and the red and black beverage bottle into the black and white trash holder one by one.",
+    "Carefully grab the yellow bottle with smooth texture, the bottle with narrow neck, and the rounded bottle with a white neck and position them in the black dustbin.",
+    "Grab the bottle with small ridged green cap, put it in the plastic dustbin, follow by moving the smooth transparent plastic bottle and the red and black beverage bottle there too.",
+    "Start with the yellow bottle body with tapered neck, grab it and drop it into the plastic dustbin, repeat for the transparent bottle and the rounded bottle with a white neck.",
+    "Lift the yellow liquid container with green top, the bottle with turquoise cap, and the smooth plastic bottle, dropping each into the dustbin with lid and bag sequentially.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the medium black garbage container, repeat for the bottle for holding liquids and the plastic bottle with red cap.",
+    "Place the yellow bottle body with tapered neck, the bottle with turquoise cap, and the smooth plastic bottle into the black and white trash holder one after another.",
+    "Using arms, grab the bottle made of smooth plastic and place it in the plastic dustbin, do the same for the clear bottle with blue sections and the red-labeled soda bottle.",
+    "Move the bottle made of smooth plastic into the dustbin with lid and bag, then do the same for the bottle with ribbed design and the hand-sized drinking bottle.",
+    "Use the arms to transfer the bottle with green cap, the smooth transparent plastic bottle, and the hand-sized drinking bottle into the smooth black dustbin step by step.",
+    "With arms, place the green-striped cap on yellow bottle, the bottle with narrow neck, and the plastic bottle with red cap into the black garbage bin step by step.",
+    "Use arms to pick the yellow bottle body with tapered neck, drop it in the black and white trash holder, repeat for the hand-sized bottle and the red and black beverage bottle.",
+    "Grab the yellow bottle, the bottle for holding liquids, and the smooth plastic bottle and put them sequentially into the dustbin with lid and bag.",
+    "Move the smooth yellow bottle with ridged cap, the water bottle with textured body, and the black bottle with red label to the black and white trash holder sequentially using the arms.",
+    "Begin with the medium yellow cylindrical bottle, move it to the dustbin with lid and bag, then continue with the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the hand-sized bottle, the red and black beverage bottle, and place them one by one in the dustbin with lid and bag.",
+    "Pick the bottle made of smooth plastic, the smooth transparent plastic bottle, and the drink bottle with slim neck from the table and place them inside the dustbin with white inner bag.",
+    "Using arms, pick up the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red bottle, dropping each into the black dustbin.",
+    "Use the arms to move the bottle made of smooth plastic into the smooth black dustbin, then repeat for the bottle with turquoise cap and the plastic bottle with red cap.",
+    "Grab the yellow liquid container with green top, the cylindrical bottle, the smooth plastic bottle, and drop them into the black and white trash holder to the left of the table.",
+    "Grab the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the smooth plastic bottle sequentially, placing each into the medium black garbage container.",
+    "Take the yellow liquid container with green top, drop it in the black and white trash holder, then move the blue-accented cylindrical bottle and the black and red bottle to the black and white trash holder.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the rectangular black trash holder, repeat with the blue-accented cylindrical bottle and the smooth plastic bottle.",
+    "Drop the bottle with small ridged green cap, the clear bottle with blue sections, and the bottle with curved body shape into the rectangular black trash holder, handling them one at a time.",
+    "Take the bottle with small ridged green cap, the clear bottle with blue sections, and the drink bottle with slim neck one at a time and place them into the medium-sized black plastic dustbin.",
+    "Pick up the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the plastic bottle with red cap, moving them one by one into the rectangular black trash holder.",
+    "Transfer the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the red and black beverage bottle to the black dustbin located to the table's left.",
+    "Grab the bottle with green cap, place it in the black dustbin, then grab the bottle with turquoise cap and the black and red bottle for the black dustbin.",
+    "Use arms to grab the bottle with green cap, the cylindrical bottle, the rounded bottle with a white neck, and set them into the black bin with white liner to the left.",
+    "Pick the yellow bottle with smooth texture, drop it into the black bin with white liner, then move the transparent bottle and the plastic bottle with red cap into the black bin with white liner.",
+    "Grab the yellow bottle with smooth texture, drop it in the rectangular black trash holder, do the same for the clear bottle with blue sections and the bottle with curved body shape.",
+    "Place the bottle with green cap, the bottle with ribbed design, and the rounded bottle with a white neck into the medium-sized black plastic dustbin after taking them individually.",
+    "Pick the bottle with small ridged green cap, the bottle with turquoise cap, and the black bottle with red label one at a time and put them into the smooth black dustbin.",
+    "Use arms to move the yellow bottle with smooth texture, the bottle with turquoise cap, and the smooth plastic bottle to the smooth black dustbin on the table's left.",
+    "Put the cylindrical yellow bottle for holding liquids into the black bin with white liner, followed by the hand-sized bottle and the black soda bottle with white top.",
+    "Use arms to pick the yellow liquid container with green top, the smooth transparent plastic bottle, and the plastic bottle with red cap, dropping them into the rectangular black trash holder.",
+    "Grab the bottle with green cap and the water bottle with textured body, put them into the medium-sized black plastic dustbin, and repeat for the rounded bottle with a white neck.",
+    "Transfer the green-striped cap on yellow bottle, the medium-sized water bottle, and the drink bottle with slim neck into the rectangular black trash holder step by step.",
+    "Transfer the bottle with green cap, the bottle with narrow neck, and the plastic bottle with red cap into the black dustbin using your arms, one by one.",
+    "Take the medium yellow cylindrical bottle with arms, put it in the black and white trash holder, repeat the same for the bottle with narrow neck and the red-labeled soda bottle.",
+    "Grab each of the green-striped cap on yellow bottle, the transparent bottle, and the red bottle and drop them into the smooth black dustbin.",
+    "Use arms to move the yellow liquid container with green top, the smooth transparent plastic bottle, and the black and red bottle into the smooth black dustbin.",
+    "Place the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the drink bottle with slim neck, one at a time, into the dustbin with white inner bag.",
+    "Use the arms to transfer the yellow bottle, the clear bottle with blue sections, and the hand-sized drinking bottle into the smooth black dustbin one by one.",
+    "Pick the yellow bottle and move it into the trash bin, repeat for the clear bottle with blue sections and the plastic bottle with red cap.",
+    "Using arms, grab the green-striped cap on yellow bottle and the blue-accented cylindrical bottle, then place them into the trash bin along with the red-labeled soda bottle.",
+    "Take the green-striped cap on yellow bottle, the hand-sized bottle, and the red bottle and place them into the black and white trash holder on the left.",
+    "Move the green-striped cap on yellow bottle to the black garbage bin, then the blue-accented cylindrical bottle, and finally the black and red bottle.",
+    "Use arms to pick the yellow bottle with smooth texture, the transparent bottle, and the black soda bottle with white top and place them in the rectangular black trash holder."
+  ],
+  "unseen": [
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode14.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..b376e80f4b0370d8fc838c27f924f73d57737c17
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the yellow bottle, the smooth transparent plastic bottle, and the black soda bottle with white top into the black and white trash holder one after another.",
+    "Use arms to pick the yellow bottle with smooth texture, the cylindrical bottle, and the rounded bottle with a white neck, dropping them into the black and white trash holder.",
+    "Place the bottle with small ridged green cap, the bottle with turquoise cap, and the rounded bottle with a white neck, one at a time, into the medium black garbage container.",
+    "Grab the bottle made of smooth plastic, the medium-sized water bottle, and the hand-sized drinking bottle and put them sequentially into the trash bin.",
+    "Pick the bottle with small ridged green cap, drop it into the medium-sized black plastic dustbin, then move the bottle with turquoise cap and the black bottle with red label into the medium-sized black plastic dustbin.",
+    "Use arms to pick the green-striped cap on yellow bottle, the bottle with ribbed design, the red and black beverage bottle, and place them one by one in the medium black garbage container.",
+    "Use arms to pick the green-striped cap on yellow bottle, drop it in the black bin with white liner, repeat for the hand-sized bottle and the plastic bottle with red cap.",
+    "Use arms to move the green-striped cap on yellow bottle, the transparent bottle, and the smooth plastic bottle into the dustbin with white inner bag.",
+    "Move the yellow bottle, the bottle for holding liquids, and the black and red bottle to the trash bin sequentially using the arms.",
+    "Take the yellow bottle with smooth texture, drop it in the black and white trash holder, then move the medium-sized water bottle and the rounded bottle with a white neck to the black and white trash holder.",
+    "Use arms to grab the bottle made of smooth plastic, the hand-sized bottle, the black and red bottle, and set them into the black dustbin to the left.",
+    "Grab the yellow liquid container with green top, place it in the medium-sized black plastic dustbin, then grab the blue-accented cylindrical bottle and the smooth plastic bottle for the medium-sized black plastic dustbin.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the plastic bottle with red cap to the rectangular black trash holder located to the table's left.",
+    "Use the arms to move the medium yellow cylindrical bottle into the black bin with white liner, then repeat for the transparent bottle and the plastic bottle with red cap.",
+    "Pick up the yellow bottle with smooth texture, the hand-sized bottle, and the rounded bottle with a white neck, moving them one by one into the black and white trash holder.",
+    "Start with the bottle made of smooth plastic, grab it and drop it into the medium-sized black plastic dustbin, repeat for the clear bottle with blue sections and the red bottle.",
+    "Pick the yellow liquid container with green top and move it into the medium black garbage container, repeat for the smooth transparent plastic bottle and the red and black beverage bottle.",
+    "Using arms, grab the bottle with green cap and the bottle with narrow neck, then place them into the trash bin along with the bottle with curved body shape.",
+    "Move the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the drink bottle with slim neck into the dustbin with lid and bag one by one.",
+    "Place the bottle with green cap, the water bottle with textured body, and the hand-sized drinking bottle into the smooth black dustbin after taking them individually.",
+    "Grab each of the bottle made of smooth plastic, the bottle for holding liquids, and the black bottle with red label and drop them into the dustbin with lid and bag.",
+    "Take the cylindrical yellow bottle for holding liquids with arms, put it in the black garbage bin, repeat the same for the bottle with narrow neck and the red bottle.",
+    "Pick the green-striped cap on yellow bottle, the bottle with turquoise cap, and the red bottle from the table and place them inside the medium-sized black plastic dustbin.",
+    "Move the yellow liquid container with green top to the dustbin with lid and bag, then the smooth transparent plastic bottle, and finally the bottle with curved body shape.",
+    "Using arms, grab the yellow bottle body with tapered neck and put it in the dustbin with lid and bag, repeat for the bottle with ribbed design and the drink bottle with slim neck.",
+    "Grab the yellow bottle and the bottle with ribbed design, put them into the dustbin with lid and bag, and repeat for the black soda bottle with white top.",
+    "Grab the medium plastic bottle with tapered neck, put it in the smooth black dustbin, follow by moving the bottle with ribbed design and the black bottle with red label there too.",
+    "Lift the bottle with green cap, the clear bottle with blue sections, and the red-labeled soda bottle, dropping each into the medium black garbage container sequentially.",
+    "Carry the medium plastic bottle with tapered neck first, drop it into the medium-sized black plastic dustbin, repeat with the transparent bottle and the red bottle.",
+    "Grab the yellow bottle, drop it in the trash bin, do the same for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Use the arms to transfer the yellow liquid container with green top, the bottle for holding liquids, and the bottle with curved body shape into the plastic dustbin one by one.",
+    "Take the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the plastic bottle with red cap and place them into the smooth black dustbin on the left.",
+    "Put the cylindrical yellow bottle for holding liquids into the black dustbin, followed by the bottle with narrow neck and the plastic bottle with red cap.",
+    "Use arms to move the yellow liquid container with green top, the bottle with narrow neck, and the black bottle with red label to the medium-sized black plastic dustbin on the table's left.",
+    "Place the yellow liquid container with green top, the smooth transparent plastic bottle, and the red and black beverage bottle in the plastic dustbin using the arms.",
+    "Begin with the bottle made of smooth plastic, move it to the smooth black dustbin, then continue with the bottle for holding liquids and the red-labeled soda bottle.",
+    "Move the bottle made of smooth plastic into the medium-sized black plastic dustbin, then do the same for the clear bottle with blue sections and the bottle with curved body shape.",
+    "Pick the yellow bottle body with tapered neck, the bottle for holding liquids, and the smooth plastic bottle one at a time and put them into the black garbage bin.",
+    "Grab the bottle with small ridged green cap, the hand-sized bottle, and the black and red bottle sequentially, placing each into the plastic dustbin.",
+    "With arms, place the green-striped cap on yellow bottle, the bottle with narrow neck, and the drink bottle with slim neck into the medium black garbage container step by step.",
+    "Take the medium plastic bottle with tapered neck, the transparent bottle, and the smooth plastic bottle one at a time and place them into the medium-sized black plastic dustbin.",
+    "Drop the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the plastic bottle with red cap into the dustbin with lid and bag, handling them one at a time.",
+    "Using arms, grab the bottle with small ridged green cap and place it in the medium black garbage container, do the same for the water bottle with textured body and the red bottle.",
+    "Carefully grab the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the red-labeled soda bottle and position them in the black bin with white liner.",
+    "Transfer the yellow liquid container with green top, the transparent bottle, and the red and black beverage bottle into the dustbin with white inner bag using your arms, one by one.",
+    "Use the arms to transfer the yellow bottle with smooth texture, the bottle with narrow neck, and the red-labeled soda bottle into the dustbin with white inner bag step by step.",
+    "Using arms, pick up the bottle with green cap, the hand-sized bottle, and the smooth plastic bottle, dropping each into the medium-sized black plastic dustbin.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the black and red bottle into the medium black garbage container step by step.",
+    "Use arms to pick the bottle made of smooth plastic, the transparent bottle, and the drink bottle with slim neck and place them in the black dustbin.",
+    "Grab the medium yellow cylindrical bottle, the cylindrical bottle, the hand-sized drinking bottle, and drop them into the plastic dustbin to the left of the table.",
+    "Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the plastic bottle with red cap into the rectangular black trash holder one after another.",
+    "Use arms to pick the yellow liquid container with green top, the water bottle with textured body, and the black and red bottle, dropping them into the black and white trash holder.",
+    "Place the yellow bottle, the medium-sized water bottle, and the rounded bottle with a white neck, one at a time, into the trash bin.",
+    "Grab the bottle made of smooth plastic, the clear bottle with blue sections, and the plastic bottle with red cap and put them sequentially into the black garbage bin.",
+    "Pick the green-striped cap on yellow bottle, drop it into the plastic dustbin, then move the smooth transparent plastic bottle and the black soda bottle with white top into the plastic dustbin.",
+    "Use arms to pick the green-striped cap on yellow bottle, the hand-sized bottle, the red-labeled soda bottle, and place them one by one in the black garbage bin.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the smooth black dustbin, repeat for the hand-sized bottle and the smooth plastic bottle.",
+    "Use arms to move the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the red and black beverage bottle into the black dustbin.",
+    "Move the yellow bottle body with tapered neck, the blue-accented cylindrical bottle, and the red and black beverage bottle to the medium-sized black plastic dustbin sequentially using the arms.",
+    "Take the medium yellow cylindrical bottle, drop it in the trash bin, then move the cylindrical bottle and the red and black beverage bottle to the trash bin.",
+    "Use arms to grab the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, the drink bottle with slim neck, and set them into the smooth black dustbin to the left.",
+    "Grab the yellow liquid container with green top, place it in the smooth black dustbin, then grab the hand-sized bottle and the black soda bottle with white top for the smooth black dustbin.",
+    "Transfer the smooth yellow bottle with ridged cap, the water bottle with textured body, and the bottle with curved body shape to the black and white trash holder located to the table's left.",
+    "Use the arms to move the yellow liquid container with green top into the black bin with white liner, then repeat for the bottle with ribbed design and the smooth plastic bottle.",
+    "Pick up the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the red and black beverage bottle, moving them one by one into the dustbin with lid and bag.",
+    "Start with the medium yellow cylindrical bottle, grab it and drop it into the black bin with white liner, repeat for the bottle with ribbed design and the red and black beverage bottle.",
+    "Pick the green-striped cap on yellow bottle and move it into the black garbage bin, repeat for the smooth transparent plastic bottle and the red bottle.",
+    "Using arms, grab the medium yellow cylindrical bottle and the bottle with narrow neck, then place them into the black garbage bin along with the red bottle.",
+    "Move the medium yellow cylindrical bottle, the bottle for holding liquids, and the drink bottle with slim neck into the smooth black dustbin one by one.",
+    "Place the medium plastic bottle with tapered neck, the transparent bottle, and the black bottle with red label into the plastic dustbin after taking them individually.",
+    "Grab each of the yellow bottle body with tapered neck, the medium-sized water bottle, and the red and black beverage bottle and drop them into the black bin with white liner.",
+    "Take the green-striped cap on yellow bottle with arms, put it in the medium-sized black plastic dustbin, repeat the same for the bottle with ribbed design and the bottle with curved body shape.",
+    "Pick the yellow bottle, the bottle with turquoise cap, and the drink bottle with slim neck from the table and place them inside the medium black garbage container.",
+    "Move the smooth yellow bottle with ridged cap to the black dustbin, then the medium-sized water bottle, and finally the black soda bottle with white top.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the dustbin with lid and bag, repeat for the bottle with narrow neck and the smooth plastic bottle.",
+    "Grab the green-striped cap on yellow bottle and the cylindrical bottle, put them into the trash bin, and repeat for the hand-sized drinking bottle.",
+    "Grab the cylindrical yellow bottle for holding liquids, put it in the medium black garbage container, follow by moving the bottle for holding liquids and the drink bottle with slim neck there too.",
+    "Lift the bottle made of smooth plastic, the bottle for holding liquids, and the black and red bottle, dropping each into the dustbin with lid and bag sequentially.",
+    "Carry the medium yellow cylindrical bottle first, drop it into the black and white trash holder, repeat with the blue-accented cylindrical bottle and the smooth plastic bottle.",
+    "Grab the green-striped cap on yellow bottle, drop it in the smooth black dustbin, do the same for the clear bottle with blue sections and the hand-sized drinking bottle.",
+    "Use the arms to transfer the yellow bottle, the clear bottle with blue sections, and the black and red bottle into the black dustbin one by one.",
+    "Take the green-striped cap on yellow bottle, the transparent bottle, and the red bottle and place them into the dustbin with lid and bag on the left.",
+    "Put the bottle with green cap into the black garbage bin, followed by the water bottle with textured body and the black and red bottle.",
+    "Use arms to move the bottle made of smooth plastic, the water bottle with textured body, and the red-labeled soda bottle to the black dustbin on the table's left.",
+    "Place the green-striped cap on yellow bottle, the medium-sized water bottle, and the plastic bottle with red cap in the black dustbin using the arms.",
+    "Begin with the cylindrical yellow bottle for holding liquids, move it to the plastic dustbin, then continue with the clear bottle with blue sections and the black bottle with red label.",
+    "Move the yellow liquid container with green top into the medium black garbage container, then do the same for the blue-accented cylindrical bottle and the smooth plastic bottle.",
+    "Pick the yellow liquid container with green top, the water bottle with textured body, and the red bottle one at a time and put them into the trash bin.",
+    "Grab the cylindrical yellow bottle for holding liquids, the transparent bottle, and the bottle with curved body shape sequentially, placing each into the plastic dustbin.",
+    "With arms, place the medium plastic bottle with tapered neck, the bottle with narrow neck, and the red-labeled soda bottle into the dustbin with lid and bag step by step.",
+    "Take the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the bottle with curved body shape one at a time and place them into the trash bin.",
+    "Drop the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the drink bottle with slim neck into the medium black garbage container, handling them one at a time.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and place it in the black and white trash holder, do the same for the hand-sized bottle and the smooth plastic bottle.",
+    "Carefully grab the yellow liquid container with green top, the medium-sized water bottle, and the plastic bottle with red cap and position them in the medium black garbage container.",
+    "Transfer the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the black soda bottle with white top into the plastic dustbin using your arms, one by one.",
+    "Use the arms to transfer the yellow liquid container with green top, the medium-sized water bottle, and the red bottle into the black garbage bin step by step.",
+    "Using arms, pick up the yellow liquid container with green top, the transparent bottle, and the red-labeled soda bottle, dropping each into the medium black garbage container.",
+    "Transfer the smooth yellow bottle with ridged cap, the water bottle with textured body, and the black bottle with red label into the black garbage bin step by step.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the medium-sized water bottle, and the hand-sized drinking bottle and place them in the black and white trash holder.",
+    "Grab the medium yellow cylindrical bottle, the medium-sized water bottle, the black soda bottle with white top, and drop them into the trash bin to the left of the table."
+  ],
+  "unseen": [
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the medium black bottle."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode15.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c280e5ff3d05a02b7f6e0f537e915768cf0749
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to grab the yellow liquid container with green top, the bottle with turquoise cap, the red-labeled soda bottle, and set them into the dustbin with white inner bag to the left.",
+    "Place the yellow bottle with smooth texture, the clear bottle with blue sections, and the smooth plastic bottle into the trash bin after taking them individually.",
+    "Use arms to move the green-striped cap on yellow bottle, the transparent bottle, and the smooth plastic bottle to the dustbin with white inner bag on the table's left.",
+    "Start with the smooth yellow bottle with ridged cap, grab it and drop it into the medium black garbage container, repeat for the smooth transparent plastic bottle and the black and red bottle.",
+    "Move the yellow bottle body with tapered neck, the bottle with ribbed design, and the red bottle to the medium-sized black plastic dustbin sequentially using the arms.",
+    "Use the arms to transfer the green-striped cap on yellow bottle, the water bottle with textured body, and the hand-sized drinking bottle into the trash bin step by step.",
+    "Use the arms to transfer the yellow liquid container with green top, the bottle with turquoise cap, and the black bottle with red label into the black and white trash holder one by one.",
+    "Use arms to pick the bottle with green cap, the medium-sized water bottle, and the smooth plastic bottle, dropping them into the black dustbin.",
+    "Using arms, grab the yellow bottle and put it in the black dustbin, repeat for the cylindrical bottle and the black soda bottle with white top.",
+    "Grab the green-striped cap on yellow bottle, put it in the smooth black dustbin, follow by moving the smooth transparent plastic bottle and the black soda bottle with white top there too.",
+    "Grab the medium plastic bottle with tapered neck, the bottle for holding liquids, the rounded bottle with a white neck, and drop them into the dustbin with white inner bag to the left of the table.",
+    "Move the medium yellow cylindrical bottle into the black and white trash holder, then do the same for the medium-sized water bottle and the black soda bottle with white top.",
+    "With arms, place the yellow bottle, the blue-accented cylindrical bottle, and the black and red bottle into the black and white trash holder step by step.",
+    "Using arms, grab the medium yellow cylindrical bottle and place it in the dustbin with white inner bag, do the same for the water bottle with textured body and the red-labeled soda bottle.",
+    "Pick the medium plastic bottle with tapered neck, drop it into the rectangular black trash holder, then move the bottle for holding liquids and the black bottle with red label into the rectangular black trash holder.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and the cylindrical bottle, then place them into the dustbin with lid and bag along with the hand-sized drinking bottle.",
+    "Take the yellow bottle with smooth texture, the blue-accented cylindrical bottle, and the red-labeled soda bottle one at a time and place them into the black and white trash holder.",
+    "Place the yellow liquid container with green top, the smooth transparent plastic bottle, and the red bottle in the black and white trash holder using the arms.",
+    "Take the medium plastic bottle with tapered neck, the cylindrical bottle, and the smooth plastic bottle and place them into the black dustbin on the left.",
+    "Place the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the red and black beverage bottle, one at a time, into the black dustbin.",
+    "Transfer the bottle with green cap, the smooth transparent plastic bottle, and the drink bottle with slim neck into the black garbage bin using your arms, one by one.",
+    "Begin with the yellow bottle body with tapered neck, move it to the plastic dustbin, then continue with the blue-accented cylindrical bottle and the drink bottle with slim neck.",
+    "Grab the bottle with green cap, the bottle for holding liquids, and the black bottle with red label and put them sequentially into the rectangular black trash holder.",
+    "Carry the green-striped cap on yellow bottle first, drop it into the trash bin, repeat with the cylindrical bottle and the black and red bottle.",
+    "Move the cylindrical yellow bottle for holding liquids to the rectangular black trash holder, then the cylindrical bottle, and finally the red and black beverage bottle.",
+    "Take the green-striped cap on yellow bottle with arms, put it in the black and white trash holder, repeat the same for the clear bottle with blue sections and the black and red bottle.",
+    "Place the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the red bottle into the black garbage bin one after another.",
+    "Move the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the smooth plastic bottle into the dustbin with lid and bag one by one.",
+    "Grab the medium yellow cylindrical bottle and the cylindrical bottle, put them into the medium black garbage container, and repeat for the black bottle with red label.",
+    "Carefully grab the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the black soda bottle with white top and position them in the black bin with white liner.",
+    "Grab the yellow liquid container with green top, the water bottle with textured body, and the red and black beverage bottle sequentially, placing each into the dustbin with lid and bag.",
+    "Grab the cylindrical yellow bottle for holding liquids, drop it in the medium black garbage container, do the same for the hand-sized bottle and the bottle with curved body shape.",
+    "Using arms, pick up the bottle with small ridged green cap, the medium-sized water bottle, and the bottle with curved body shape, dropping each into the dustbin with white inner bag.",
+    "Pick the bottle made of smooth plastic, the smooth transparent plastic bottle, and the bottle with curved body shape from the table and place them inside the medium-sized black plastic dustbin.",
+    "Use arms to pick the bottle with small ridged green cap, the clear bottle with blue sections, the drink bottle with slim neck, and place them one by one in the dustbin with white inner bag.",
+    "Drop the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the red and black beverage bottle into the dustbin with white inner bag, handling them one at a time.",
+    "Use the arms to move the bottle with green cap into the trash bin, then repeat for the medium-sized water bottle and the black bottle with red label.",
+    "Lift the bottle with green cap, the blue-accented cylindrical bottle, and the black and red bottle, dropping each into the dustbin with lid and bag sequentially.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the trash bin, then grab the hand-sized bottle and the plastic bottle with red cap for the trash bin.",
+    "Pick up the bottle with green cap, the cylindrical bottle, and the smooth plastic bottle, moving them one by one into the black and white trash holder.",
+    "Use arms to pick the green-striped cap on yellow bottle, the transparent bottle, and the smooth plastic bottle and place them in the black garbage bin.",
+    "Pick the medium yellow cylindrical bottle and move it into the smooth black dustbin, repeat for the cylindrical bottle and the rounded bottle with a white neck.",
+    "Transfer the medium yellow cylindrical bottle, the bottle with narrow neck, and the red and black beverage bottle to the black bin with white liner located to the table's left.",
+    "Grab each of the smooth yellow bottle with ridged cap, the transparent bottle, and the hand-sized drinking bottle and drop them into the trash bin.",
+    "Use arms to pick the yellow liquid container with green top, drop it in the rectangular black trash holder, repeat for the smooth transparent plastic bottle and the bottle with curved body shape.",
+    "Pick the yellow bottle with smooth texture, the medium-sized water bottle, and the drink bottle with slim neck one at a time and put them into the rectangular black trash holder.",
+    "Take the medium yellow cylindrical bottle, drop it in the trash bin, then move the hand-sized bottle and the hand-sized drinking bottle to the trash bin.",
+    "Use arms to move the yellow liquid container with green top, the hand-sized bottle, and the rounded bottle with a white neck into the black garbage bin.",
+    "Put the bottle with small ridged green cap into the black bin with white liner, followed by the bottle for holding liquids and the plastic bottle with red cap.",
+    "Transfer the yellow bottle, the bottle with turquoise cap, and the rounded bottle with a white neck into the plastic dustbin step by step.",
+    "Use arms to grab the yellow bottle with smooth texture, the cylindrical bottle, the bottle with curved body shape, and set them into the rectangular black trash holder to the left.",
+    "Place the yellow bottle, the transparent bottle, and the rounded bottle with a white neck into the medium-sized black plastic dustbin after taking them individually.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the red and black beverage bottle to the rectangular black trash holder on the table's left.",
+    "Start with the medium plastic bottle with tapered neck, grab it and drop it into the smooth black dustbin, repeat for the hand-sized bottle and the red bottle.",
+    "Move the bottle with small ridged green cap, the medium-sized water bottle, and the bottle with curved body shape to the dustbin with white inner bag sequentially using the arms.",
+    "Use the arms to transfer the green-striped cap on yellow bottle, the bottle with narrow neck, and the black soda bottle with white top into the black and white trash holder step by step.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the bottle with turquoise cap, and the black and red bottle into the trash bin one by one.",
+    "Use arms to pick the yellow bottle body with tapered neck, the cylindrical bottle, and the red bottle, dropping them into the black bin with white liner.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the medium-sized black plastic dustbin, repeat for the smooth transparent plastic bottle and the red-labeled soda bottle.",
+    "Grab the yellow liquid container with green top, put it in the smooth black dustbin, follow by moving the clear bottle with blue sections and the drink bottle with slim neck there too.",
+    "Grab the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, the black soda bottle with white top, and drop them into the dustbin with lid and bag to the left of the table.",
+    "Move the smooth yellow bottle with ridged cap into the trash bin, then do the same for the hand-sized bottle and the plastic bottle with red cap.",
+    "With arms, place the bottle with small ridged green cap, the bottle with ribbed design, and the plastic bottle with red cap into the medium-sized black plastic dustbin step by step.",
+    "Using arms, grab the bottle with small ridged green cap and place it in the dustbin with lid and bag, do the same for the hand-sized bottle and the plastic bottle with red cap.",
+    "Pick the bottle made of smooth plastic, drop it into the black bin with white liner, then move the bottle with narrow neck and the drink bottle with slim neck into the black bin with white liner.",
+    "Using arms, grab the yellow liquid container with green top and the bottle for holding liquids, then place them into the black and white trash holder along with the red-labeled soda bottle.",
+    "Take the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the plastic bottle with red cap one at a time and place them into the medium-sized black plastic dustbin.",
+    "Place the yellow bottle, the water bottle with textured body, and the plastic bottle with red cap in the medium-sized black plastic dustbin using the arms.",
+    "Take the bottle with green cap, the smooth transparent plastic bottle, and the black and red bottle and place them into the medium black garbage container on the left.",
+    "Place the yellow bottle with smooth texture, the cylindrical bottle, and the drink bottle with slim neck, one at a time, into the dustbin with lid and bag.",
+    "Transfer the smooth yellow bottle with ridged cap, the transparent bottle, and the drink bottle with slim neck into the dustbin with white inner bag using your arms, one by one.",
+    "Begin with the medium yellow cylindrical bottle, move it to the smooth black dustbin, then continue with the smooth transparent plastic bottle and the red bottle.",
+    "Grab the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the drink bottle with slim neck and put them sequentially into the plastic dustbin.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the trash bin, repeat with the smooth transparent plastic bottle and the bottle with curved body shape.",
+    "Move the smooth yellow bottle with ridged cap to the smooth black dustbin, then the transparent bottle, and finally the plastic bottle with red cap.",
+    "Take the bottle with green cap with arms, put it in the medium-sized black plastic dustbin, repeat the same for the bottle with narrow neck and the smooth plastic bottle.",
+    "Place the yellow bottle, the cylindrical bottle, and the black and red bottle into the black bin with white liner one after another.",
+    "Move the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the black bottle with red label into the dustbin with white inner bag one by one.",
+    "Grab the yellow bottle body with tapered neck and the smooth transparent plastic bottle, put them into the black bin with white liner, and repeat for the rounded bottle with a white neck.",
+    "Carefully grab the yellow bottle body with tapered neck, the cylindrical bottle, and the red-labeled soda bottle and position them in the black bin with white liner.",
+    "Grab the green-striped cap on yellow bottle, the smooth transparent plastic bottle, and the black soda bottle with white top sequentially, placing each into the black dustbin.",
+    "Grab the bottle with green cap, drop it in the smooth black dustbin, do the same for the hand-sized bottle and the red-labeled soda bottle.",
+    "Using arms, pick up the bottle with green cap, the bottle with ribbed design, and the black bottle with red label, dropping each into the black bin with white liner.",
+    "Pick the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the red bottle from the table and place them inside the black bin with white liner.",
+    "Use arms to pick the yellow bottle with smooth texture, the bottle with ribbed design, the plastic bottle with red cap, and place them one by one in the dustbin with white inner bag.",
+    "Drop the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the plastic bottle with red cap into the black dustbin, handling them one at a time.",
+    "Use the arms to move the bottle with small ridged green cap into the trash bin, then repeat for the cylindrical bottle and the red and black beverage bottle.",
+    "Lift the yellow bottle with smooth texture, the bottle with ribbed design, and the black bottle with red label, dropping each into the black and white trash holder sequentially.",
+    "Grab the medium yellow cylindrical bottle, place it in the dustbin with white inner bag, then grab the water bottle with textured body and the red-labeled soda bottle for the dustbin with white inner bag.",
+    "Pick up the yellow liquid container with green top, the clear bottle with blue sections, and the hand-sized drinking bottle, moving them one by one into the black garbage bin.",
+    "Use arms to pick the bottle with green cap, the water bottle with textured body, and the red bottle and place them in the dustbin with lid and bag.",
+    "Pick the yellow liquid container with green top and move it into the black garbage bin, repeat for the bottle with ribbed design and the bottle with curved body shape.",
+    "Transfer the green-striped cap on yellow bottle, the cylindrical bottle, and the hand-sized drinking bottle to the medium-sized black plastic dustbin located to the table's left.",
+    "Grab each of the yellow bottle body with tapered neck, the bottle with ribbed design, and the bottle with curved body shape and drop them into the black garbage bin.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the medium-sized black plastic dustbin, repeat for the bottle with turquoise cap and the hand-sized drinking bottle.",
+    "Pick the green-striped cap on yellow bottle, the water bottle with textured body, and the black bottle with red label one at a time and put them into the smooth black dustbin.",
+    "Take the bottle with small ridged green cap, drop it in the black bin with white liner, then move the blue-accented cylindrical bottle and the hand-sized drinking bottle to the black bin with white liner.",
+    "Use arms to move the bottle with small ridged green cap, the hand-sized bottle, and the red-labeled soda bottle into the medium-sized black plastic dustbin.",
+    "Put the medium plastic bottle with tapered neck into the black dustbin, followed by the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Transfer the bottle made of smooth plastic, the bottle with ribbed design, and the plastic bottle with red cap into the dustbin with lid and bag step by step."
+  ],
+  "unseen": [
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode16.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ba5bbb51d2c79d7b993c3e4092479393c4e085f
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab each of the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the rounded bottle with a white neck and drop them into the plastic dustbin.",
+    "Transfer the medium yellow cylindrical bottle, the cylindrical bottle, and the plastic bottle with red cap into the dustbin with lid and bag using your arms, one by one.",
+    "Move the yellow bottle with smooth texture to the plastic dustbin, then the bottle for holding liquids, and finally the black bottle with red label.",
+    "Transfer the smooth yellow bottle with ridged cap, the cylindrical bottle, and the black bottle with red label into the dustbin with lid and bag step by step.",
+    "Carefully grab the bottle with green cap, the smooth transparent plastic bottle, and the rounded bottle with a white neck and position them in the medium black garbage container.",
+    "Place the bottle made of smooth plastic, the clear bottle with blue sections, and the red-labeled soda bottle in the smooth black dustbin using the arms.",
+    "Grab the green-striped cap on yellow bottle, put it in the plastic dustbin, follow by moving the hand-sized bottle and the red and black beverage bottle there too.",
+    "Take the bottle with green cap, drop it in the dustbin with white inner bag, then move the hand-sized bottle and the red and black beverage bottle to the dustbin with white inner bag.",
+    "Put the medium plastic bottle with tapered neck into the medium-sized black plastic dustbin, followed by the bottle with ribbed design and the drink bottle with slim neck.",
+    "Move the bottle with small ridged green cap into the medium-sized black plastic dustbin, then do the same for the cylindrical bottle and the black soda bottle with white top.",
+    "Start with the medium plastic bottle with tapered neck, grab it and drop it into the trash bin, repeat for the water bottle with textured body and the red bottle.",
+    "With arms, place the medium yellow cylindrical bottle, the bottle with turquoise cap, and the rounded bottle with a white neck into the black dustbin step by step.",
+    "Pick up the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the black soda bottle with white top, moving them one by one into the black garbage bin.",
+    "Use arms to grab the bottle with small ridged green cap, the medium-sized water bottle, the black bottle with red label, and set them into the plastic dustbin to the left.",
+    "Pick the yellow bottle body with tapered neck and move it into the black garbage bin, repeat for the smooth transparent plastic bottle and the red and black beverage bottle.",
+    "Drop the yellow bottle, the water bottle with textured body, and the red-labeled soda bottle into the medium black garbage container, handling them one at a time.",
+    "Grab the green-striped cap on yellow bottle, the water bottle with textured body, the drink bottle with slim neck, and drop them into the plastic dustbin to the left of the table.",
+    "Use arms to pick the bottle with small ridged green cap, the clear bottle with blue sections, the plastic bottle with red cap, and place them one by one in the plastic dustbin.",
+    "Using arms, grab the bottle with small ridged green cap and the cylindrical bottle, then place them into the medium black garbage container along with the hand-sized drinking bottle.",
+    "Using arms, grab the green-striped cap on yellow bottle and put it in the medium-sized black plastic dustbin, repeat for the smooth transparent plastic bottle and the bottle with curved body shape.",
+    "Take the yellow bottle with smooth texture, the bottle with ribbed design, and the drink bottle with slim neck one at a time and place them into the black and white trash holder.",
+    "Take the yellow liquid container with green top with arms, put it in the dustbin with lid and bag, repeat the same for the cylindrical bottle and the red-labeled soda bottle.",
+    "Use arms to move the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the black bottle with red label into the trash bin.",
+    "Move the yellow bottle body with tapered neck, the medium-sized water bottle, and the black and red bottle into the dustbin with lid and bag one by one.",
+    "Place the bottle with green cap, the hand-sized bottle, and the red bottle, one at a time, into the smooth black dustbin.",
+    "Pick the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the smooth plastic bottle from the table and place them inside the black dustbin.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the hand-sized bottle, and the black soda bottle with white top into the medium-sized black plastic dustbin one by one.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the transparent bottle, and the black bottle with red label, dropping them into the black garbage bin.",
+    "Using arms, grab the yellow liquid container with green top and place it in the dustbin with white inner bag, do the same for the medium-sized water bottle and the black and red bottle.",
+    "Begin with the cylindrical yellow bottle for holding liquids, move it to the dustbin with white inner bag, then continue with the bottle for holding liquids and the black and red bottle.",
+    "Use the arms to transfer the yellow bottle with smooth texture, the hand-sized bottle, and the black bottle with red label into the black garbage bin step by step.",
+    "Grab the bottle with green cap, drop it in the medium black garbage container, do the same for the bottle with ribbed design and the smooth plastic bottle.",
+    "Use arms to pick the yellow bottle, the transparent bottle, and the red bottle and place them in the black garbage bin.",
+    "Grab the cylindrical yellow bottle for holding liquids and the cylindrical bottle, put them into the medium black garbage container, and repeat for the plastic bottle with red cap.",
+    "Lift the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the red and black beverage bottle, dropping each into the dustbin with lid and bag sequentially.",
+    "Grab the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the plastic bottle with red cap and put them sequentially into the black garbage bin.",
+    "Carry the medium yellow cylindrical bottle first, drop it into the plastic dustbin, repeat with the water bottle with textured body and the drink bottle with slim neck.",
+    "Pick the bottle with small ridged green cap, the hand-sized bottle, and the black bottle with red label one at a time and put them into the black dustbin.",
+    "Use arms to pick the yellow bottle, drop it in the rectangular black trash holder, repeat for the water bottle with textured body and the red and black beverage bottle.",
+    "Move the bottle with green cap, the bottle with turquoise cap, and the black and red bottle to the dustbin with white inner bag sequentially using the arms.",
+    "Place the yellow bottle, the bottle for holding liquids, and the plastic bottle with red cap into the medium black garbage container one after another.",
+    "Transfer the green-striped cap on yellow bottle, the bottle with ribbed design, and the red-labeled soda bottle to the trash bin located to the table's left.",
+    "Using arms, pick up the bottle made of smooth plastic, the bottle with narrow neck, and the black bottle with red label, dropping each into the dustbin with lid and bag.",
+    "Pick the bottle with green cap, drop it into the black dustbin, then move the bottle with narrow neck and the drink bottle with slim neck into the black dustbin.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the black bottle with red label to the black dustbin on the table's left.",
+    "Place the bottle made of smooth plastic, the cylindrical bottle, and the black and red bottle into the dustbin with lid and bag after taking them individually.",
+    "Grab the bottle made of smooth plastic, the water bottle with textured body, and the red bottle sequentially, placing each into the black and white trash holder.",
+    "Take the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the red bottle and place them into the medium black garbage container on the left.",
+    "Use the arms to move the medium plastic bottle with tapered neck into the smooth black dustbin, then repeat for the smooth transparent plastic bottle and the drink bottle with slim neck.",
+    "Grab the yellow bottle with smooth texture, place it in the smooth black dustbin, then grab the water bottle with textured body and the black bottle with red label for the smooth black dustbin.",
+    "Grab each of the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the red and black beverage bottle and drop them into the smooth black dustbin.",
+    "Transfer the yellow bottle, the bottle for holding liquids, and the black soda bottle with white top into the black and white trash holder using your arms, one by one.",
+    "Move the yellow liquid container with green top to the dustbin with white inner bag, then the bottle with ribbed design, and finally the drink bottle with slim neck.",
+    "Transfer the yellow bottle with smooth texture, the hand-sized bottle, and the black soda bottle with white top into the black bin with white liner step by step.",
+    "Carefully grab the yellow bottle, the bottle with narrow neck, and the bottle with curved body shape and position them in the rectangular black trash holder.",
+    "Place the medium yellow cylindrical bottle, the bottle with narrow neck, and the plastic bottle with red cap in the black garbage bin using the arms.",
+    "Grab the bottle with small ridged green cap, put it in the dustbin with white inner bag, follow by moving the bottle with ribbed design and the red-labeled soda bottle there too.",
+    "Take the yellow liquid container with green top, drop it in the medium-sized black plastic dustbin, then move the bottle with turquoise cap and the hand-sized drinking bottle to the medium-sized black plastic dustbin.",
+    "Put the yellow bottle into the black bin with white liner, followed by the bottle with ribbed design and the plastic bottle with red cap.",
+    "Move the medium yellow cylindrical bottle into the rectangular black trash holder, then do the same for the clear bottle with blue sections and the red-labeled soda bottle.",
+    "Start with the smooth yellow bottle with ridged cap, grab it and drop it into the rectangular black trash holder, repeat for the hand-sized bottle and the red and black beverage bottle.",
+    "With arms, place the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the black and red bottle into the smooth black dustbin step by step.",
+    "Pick up the yellow bottle with smooth texture, the medium-sized water bottle, and the black soda bottle with white top, moving them one by one into the plastic dustbin.",
+    "Use arms to grab the bottle with green cap, the cylindrical bottle, the plastic bottle with red cap, and set them into the black and white trash holder to the left.",
+    "Pick the bottle with small ridged green cap and move it into the black and white trash holder, repeat for the bottle for holding liquids and the black and red bottle.",
+    "Drop the yellow bottle with smooth texture, the cylindrical bottle, and the red and black beverage bottle into the smooth black dustbin, handling them one at a time.",
+    "Grab the medium yellow cylindrical bottle, the transparent bottle, the plastic bottle with red cap, and drop them into the smooth black dustbin to the left of the table.",
+    "Use arms to pick the bottle with green cap, the smooth transparent plastic bottle, the black bottle with red label, and place them one by one in the dustbin with white inner bag.",
+    "Using arms, grab the green-striped cap on yellow bottle and the bottle with turquoise cap, then place them into the trash bin along with the rounded bottle with a white neck.",
+    "Using arms, grab the yellow liquid container with green top and put it in the medium-sized black plastic dustbin, repeat for the smooth transparent plastic bottle and the black soda bottle with white top.",
+    "Take the yellow liquid container with green top, the bottle for holding liquids, and the red and black beverage bottle one at a time and place them into the black garbage bin.",
+    "Take the bottle with small ridged green cap with arms, put it in the rectangular black trash holder, repeat the same for the hand-sized bottle and the drink bottle with slim neck.",
+    "Use arms to move the bottle with small ridged green cap, the clear bottle with blue sections, and the plastic bottle with red cap into the trash bin.",
+    "Move the yellow bottle, the bottle with ribbed design, and the smooth plastic bottle into the black and white trash holder one by one.",
+    "Place the yellow bottle, the bottle with narrow neck, and the black bottle with red label, one at a time, into the black dustbin.",
+    "Pick the smooth yellow bottle with ridged cap, the cylindrical bottle, and the bottle with curved body shape from the table and place them inside the plastic dustbin.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the cylindrical bottle, and the bottle with curved body shape into the black bin with white liner one by one.",
+    "Use arms to pick the bottle with green cap, the bottle with turquoise cap, and the red and black beverage bottle, dropping them into the black garbage bin.",
+    "Using arms, grab the medium yellow cylindrical bottle and place it in the trash bin, do the same for the transparent bottle and the hand-sized drinking bottle.",
+    "Begin with the cylindrical yellow bottle for holding liquids, move it to the medium-sized black plastic dustbin, then continue with the transparent bottle and the red-labeled soda bottle.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the water bottle with textured body, and the black and red bottle into the black bin with white liner step by step.",
+    "Grab the bottle with small ridged green cap, drop it in the dustbin with white inner bag, do the same for the transparent bottle and the black bottle with red label.",
+    "Use arms to pick the bottle with green cap, the bottle with turquoise cap, and the drink bottle with slim neck and place them in the dustbin with lid and bag.",
+    "Grab the bottle with small ridged green cap and the bottle with turquoise cap, put them into the trash bin, and repeat for the black bottle with red label.",
+    "Lift the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the red-labeled soda bottle, dropping each into the black bin with white liner sequentially.",
+    "Grab the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the red-labeled soda bottle and put them sequentially into the black and white trash holder.",
+    "Carry the cylindrical yellow bottle for holding liquids first, drop it into the medium-sized black plastic dustbin, repeat with the hand-sized bottle and the drink bottle with slim neck.",
+    "Pick the smooth yellow bottle with ridged cap, the cylindrical bottle, and the black soda bottle with white top one at a time and put them into the medium black garbage container.",
+    "Use arms to pick the yellow bottle with smooth texture, drop it in the rectangular black trash holder, repeat for the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Move the bottle made of smooth plastic, the smooth transparent plastic bottle, and the red and black beverage bottle to the black bin with white liner sequentially using the arms.",
+    "Place the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the rounded bottle with a white neck into the black and white trash holder one after another.",
+    "Transfer the bottle with green cap, the bottle with turquoise cap, and the smooth plastic bottle to the black bin with white liner located to the table's left.",
+    "Using arms, pick up the bottle with small ridged green cap, the hand-sized bottle, and the smooth plastic bottle, dropping each into the smooth black dustbin.",
+    "Pick the bottle with green cap, drop it into the black bin with white liner, then move the blue-accented cylindrical bottle and the black bottle with red label into the black bin with white liner.",
+    "Use arms to move the yellow bottle with smooth texture, the bottle with ribbed design, and the black soda bottle with white top to the smooth black dustbin on the table's left.",
+    "Place the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the black and red bottle into the rectangular black trash holder after taking them individually.",
+    "Grab the bottle with green cap, the medium-sized water bottle, and the red-labeled soda bottle sequentially, placing each into the plastic dustbin.",
+    "Take the yellow liquid container with green top, the bottle with turquoise cap, and the black and red bottle and place them into the smooth black dustbin on the left.",
+    "Use the arms to move the green-striped cap on yellow bottle into the medium-sized black plastic dustbin, then repeat for the blue-accented cylindrical bottle and the bottle with curved body shape.",
+    "Grab the yellow bottle, place it in the black garbage bin, then grab the medium-sized water bottle and the bottle with curved body shape for the black garbage bin."
+  ],
+  "unseen": [
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode17.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..97dfbc9a622434bf67848f95d78a0d45bfc10e09
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bottle made of smooth plastic, the bottle with narrow neck, and the black bottle with red label to the dustbin with white inner bag sequentially using the arms.",
+    "Using arms, pick up the medium plastic bottle with tapered neck, the hand-sized bottle, and the smooth plastic bottle, dropping each into the black dustbin.",
+    "Pick the bottle with green cap, the medium-sized water bottle, and the red and black beverage bottle from the table and place them inside the medium-sized black plastic dustbin.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the red bottle, dropping them into the dustbin with white inner bag.",
+    "Use arms to pick the green-striped cap on yellow bottle, the smooth transparent plastic bottle, the plastic bottle with red cap, and place them one by one in the black and white trash holder.",
+    "Take the yellow liquid container with green top, drop it in the medium black garbage container, then move the water bottle with textured body and the smooth plastic bottle to the medium black garbage container.",
+    "Grab the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the smooth plastic bottle and put them sequentially into the black dustbin.",
+    "Grab each of the yellow bottle, the blue-accented cylindrical bottle, and the smooth plastic bottle and drop them into the rectangular black trash holder.",
+    "Using arms, grab the bottle with green cap and place it in the medium black garbage container, do the same for the bottle with ribbed design and the red bottle.",
+    "Move the green-striped cap on yellow bottle, the transparent bottle, and the red bottle into the rectangular black trash holder one by one.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the rounded bottle with a white neck to the trash bin located to the table's left.",
+    "Carefully grab the yellow bottle, the cylindrical bottle, and the plastic bottle with red cap and position them in the black garbage bin.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, drop it in the smooth black dustbin, repeat for the medium-sized water bottle and the smooth plastic bottle.",
+    "Grab the yellow bottle with smooth texture, put it in the dustbin with white inner bag, follow by moving the bottle with turquoise cap and the red-labeled soda bottle there too.",
+    "Use arms to pick the medium yellow cylindrical bottle, the bottle with narrow neck, and the red-labeled soda bottle and place them in the plastic dustbin.",
+    "Put the bottle with green cap into the dustbin with white inner bag, followed by the cylindrical bottle and the drink bottle with slim neck.",
+    "Move the medium plastic bottle with tapered neck into the black dustbin, then do the same for the hand-sized bottle and the plastic bottle with red cap.",
+    "Pick the bottle with green cap, the bottle with narrow neck, and the red and black beverage bottle one at a time and put them into the smooth black dustbin.",
+    "Using arms, grab the bottle with small ridged green cap and the transparent bottle, then place them into the dustbin with white inner bag along with the smooth plastic bottle.",
+    "Drop the medium yellow cylindrical bottle, the bottle with turquoise cap, and the black bottle with red label into the medium black garbage container, handling them one at a time.",
+    "Carry the yellow bottle first, drop it into the trash bin, repeat with the water bottle with textured body and the red-labeled soda bottle.",
+    "With arms, place the yellow bottle, the transparent bottle, and the smooth plastic bottle into the rectangular black trash holder step by step.",
+    "Grab the medium yellow cylindrical bottle, drop it in the plastic dustbin, do the same for the bottle for holding liquids and the bottle with curved body shape.",
+    "Place the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the black soda bottle with white top into the medium black garbage container one after another.",
+    "Take the yellow bottle with smooth texture, the bottle with narrow neck, and the black bottle with red label and place them into the plastic dustbin on the left.",
+    "Pick the bottle with green cap and move it into the plastic dustbin, repeat for the cylindrical bottle and the red-labeled soda bottle.",
+    "Begin with the bottle with small ridged green cap, move it to the rectangular black trash holder, then continue with the blue-accented cylindrical bottle and the drink bottle with slim neck.",
+    "Grab the yellow bottle, the cylindrical bottle, and the smooth plastic bottle sequentially, placing each into the dustbin with white inner bag.",
+    "Transfer the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the drink bottle with slim neck into the rectangular black trash holder step by step.",
+    "Take the green-striped cap on yellow bottle, the bottle with ribbed design, and the black and red bottle one at a time and place them into the black bin with white liner.",
+    "Use arms to move the medium yellow cylindrical bottle, the hand-sized bottle, and the black bottle with red label to the smooth black dustbin on the table's left.",
+    "Use the arms to transfer the bottle with small ridged green cap, the clear bottle with blue sections, and the drink bottle with slim neck into the trash bin step by step.",
+    "Pick the yellow bottle body with tapered neck, drop it into the black garbage bin, then move the smooth transparent plastic bottle and the hand-sized drinking bottle into the black garbage bin.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the black dustbin, repeat for the bottle for holding liquids and the hand-sized drinking bottle.",
+    "Move the bottle with small ridged green cap to the black garbage bin, then the bottle for holding liquids, and finally the smooth plastic bottle.",
+    "Use arms to move the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the black and red bottle into the dustbin with white inner bag.",
+    "Grab the yellow bottle body with tapered neck, the cylindrical bottle, the bottle with curved body shape, and drop them into the dustbin with lid and bag to the left of the table.",
+    "Start with the bottle with green cap, grab it and drop it into the black garbage bin, repeat for the bottle with turquoise cap and the bottle with curved body shape.",
+    "Place the cylindrical yellow bottle for holding liquids, the transparent bottle, and the black bottle with red label, one at a time, into the black dustbin.",
+    "Use the arms to transfer the yellow bottle, the smooth transparent plastic bottle, and the rounded bottle with a white neck into the medium-sized black plastic dustbin one by one.",
+    "Use the arms to move the yellow bottle into the plastic dustbin, then repeat for the bottle with turquoise cap and the drink bottle with slim neck.",
+    "Grab the green-striped cap on yellow bottle and the cylindrical bottle, put them into the black garbage bin, and repeat for the black soda bottle with white top.",
+    "Grab the yellow bottle, place it in the plastic dustbin, then grab the bottle with turquoise cap and the red bottle for the plastic dustbin.",
+    "Lift the yellow bottle with smooth texture, the medium-sized water bottle, and the red-labeled soda bottle, dropping each into the black dustbin sequentially.",
+    "Take the yellow liquid container with green top with arms, put it in the black dustbin, repeat the same for the bottle with ribbed design and the bottle with curved body shape.",
+    "Place the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the smooth plastic bottle into the black and white trash holder after taking them individually.",
+    "Pick up the yellow bottle, the cylindrical bottle, and the plastic bottle with red cap, moving them one by one into the dustbin with lid and bag.",
+    "Place the yellow bottle with smooth texture, the blue-accented cylindrical bottle, and the black soda bottle with white top in the rectangular black trash holder using the arms.",
+    "Transfer the smooth yellow bottle with ridged cap, the bottle with ribbed design, and the black bottle with red label into the dustbin with white inner bag using your arms, one by one.",
+    "Use arms to grab the medium plastic bottle with tapered neck, the transparent bottle, the black soda bottle with white top, and set them into the black and white trash holder to the left.",
+    "Move the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the smooth plastic bottle to the medium black garbage container sequentially using the arms.",
+    "Using arms, pick up the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the smooth plastic bottle, dropping each into the dustbin with lid and bag.",
+    "Pick the yellow bottle body with tapered neck, the bottle with turquoise cap, and the black soda bottle with white top from the table and place them inside the rectangular black trash holder.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the cylindrical bottle, and the red-labeled soda bottle, dropping them into the black bin with white liner.",
+    "Use arms to pick the medium yellow cylindrical bottle, the clear bottle with blue sections, the bottle with curved body shape, and place them one by one in the black and white trash holder.",
+    "Take the yellow bottle body with tapered neck, drop it in the black garbage bin, then move the transparent bottle and the bottle with curved body shape to the black garbage bin.",
+    "Grab the yellow bottle, the bottle with narrow neck, and the plastic bottle with red cap and put them sequentially into the trash bin.",
+    "Grab each of the medium plastic bottle with tapered neck, the transparent bottle, and the black and red bottle and drop them into the medium black garbage container.",
+    "Using arms, grab the yellow bottle and place it in the dustbin with white inner bag, do the same for the bottle with ribbed design and the red-labeled soda bottle.",
+    "Move the yellow liquid container with green top, the blue-accented cylindrical bottle, and the plastic bottle with red cap into the dustbin with white inner bag one by one.",
+    "Transfer the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the smooth plastic bottle to the trash bin located to the table's left.",
+    "Carefully grab the yellow bottle with smooth texture, the bottle with turquoise cap, and the smooth plastic bottle and position them in the black bin with white liner.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the black garbage bin, repeat for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Grab the green-striped cap on yellow bottle, put it in the trash bin, follow by moving the water bottle with textured body and the black bottle with red label there too.",
+    "Use arms to pick the yellow bottle, the water bottle with textured body, and the plastic bottle with red cap and place them in the black dustbin.",
+    "Put the medium plastic bottle with tapered neck into the black and white trash holder, followed by the smooth transparent plastic bottle and the black soda bottle with white top.",
+    "Move the bottle with green cap into the dustbin with white inner bag, then do the same for the smooth transparent plastic bottle and the red bottle.",
+    "Pick the bottle made of smooth plastic, the cylindrical bottle, and the hand-sized drinking bottle one at a time and put them into the black garbage bin.",
+    "Using arms, grab the medium yellow cylindrical bottle and the bottle for holding liquids, then place them into the black bin with white liner along with the red-labeled soda bottle.",
+    "Drop the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the smooth plastic bottle into the dustbin with white inner bag, handling them one at a time.",
+    "Carry the yellow bottle first, drop it into the trash bin, repeat with the transparent bottle and the rounded bottle with a white neck.",
+    "With arms, place the green-striped cap on yellow bottle, the bottle for holding liquids, and the hand-sized drinking bottle into the black bin with white liner step by step.",
+    "Grab the bottle with small ridged green cap, drop it in the black bin with white liner, do the same for the smooth transparent plastic bottle and the red-labeled soda bottle.",
+    "Place the yellow bottle body with tapered neck, the bottle with ribbed design, and the red bottle into the medium-sized black plastic dustbin one after another.",
+    "Take the medium plastic bottle with tapered neck, the transparent bottle, and the plastic bottle with red cap and place them into the trash bin on the left.",
+    "Pick the yellow liquid container with green top and move it into the black garbage bin, repeat for the water bottle with textured body and the smooth plastic bottle.",
+    "Begin with the yellow bottle body with tapered neck, move it to the dustbin with lid and bag, then continue with the bottle with turquoise cap and the black bottle with red label.",
+    "Grab the yellow bottle body with tapered neck, the water bottle with textured body, and the bottle with curved body shape sequentially, placing each into the medium-sized black plastic dustbin.",
+    "Transfer the medium yellow cylindrical bottle, the transparent bottle, and the rounded bottle with a white neck into the rectangular black trash holder step by step.",
+    "Take the bottle made of smooth plastic, the bottle with turquoise cap, and the bottle with curved body shape one at a time and place them into the black bin with white liner.",
+    "Use arms to move the bottle with green cap, the hand-sized bottle, and the red and black beverage bottle to the medium-sized black plastic dustbin on the table's left.",
+    "Use the arms to transfer the bottle made of smooth plastic, the bottle for holding liquids, and the red and black beverage bottle into the black dustbin step by step.",
+    "Pick the green-striped cap on yellow bottle, drop it into the black bin with white liner, then move the bottle with turquoise cap and the smooth plastic bottle into the black bin with white liner.",
+    "Using arms, grab the medium plastic bottle with tapered neck and put it in the medium black garbage container, repeat for the clear bottle with blue sections and the smooth plastic bottle.",
+    "Move the green-striped cap on yellow bottle to the medium black garbage container, then the transparent bottle, and finally the black bottle with red label.",
+    "Use arms to move the medium plastic bottle with tapered neck, the water bottle with textured body, and the rounded bottle with a white neck into the black and white trash holder.",
+    "Grab the yellow bottle body with tapered neck, the bottle with turquoise cap, the black and red bottle, and drop them into the dustbin with lid and bag to the left of the table.",
+    "Start with the smooth yellow bottle with ridged cap, grab it and drop it into the black and white trash holder, repeat for the medium-sized water bottle and the red-labeled soda bottle.",
+    "Place the yellow bottle with smooth texture, the hand-sized bottle, and the black soda bottle with white top, one at a time, into the plastic dustbin.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the medium-sized water bottle, and the black bottle with red label into the dustbin with lid and bag one by one.",
+    "Use the arms to move the medium plastic bottle with tapered neck into the medium black garbage container, then repeat for the hand-sized bottle and the black bottle with red label.",
+    "Grab the smooth yellow bottle with ridged cap and the bottle with turquoise cap, put them into the rectangular black trash holder, and repeat for the black bottle with red label.",
+    "Grab the cylindrical yellow bottle for holding liquids, place it in the black dustbin, then grab the bottle with ribbed design and the smooth plastic bottle for the black dustbin.",
+    "Lift the yellow bottle, the smooth transparent plastic bottle, and the rounded bottle with a white neck, dropping each into the trash bin sequentially.",
+    "Take the green-striped cap on yellow bottle with arms, put it in the black bin with white liner, repeat the same for the bottle with narrow neck and the plastic bottle with red cap.",
+    "Place the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the rounded bottle with a white neck into the black and white trash holder after taking them individually.",
+    "Pick up the green-striped cap on yellow bottle, the smooth transparent plastic bottle, and the plastic bottle with red cap, moving them one by one into the black garbage bin.",
+    "Place the yellow liquid container with green top, the water bottle with textured body, and the black bottle with red label in the rectangular black trash holder using the arms.",
+    "Transfer the bottle with small ridged green cap, the bottle with turquoise cap, and the black and red bottle into the dustbin with lid and bag using your arms, one by one.",
+    "Use arms to grab the green-striped cap on yellow bottle, the cylindrical bottle, the red-labeled soda bottle, and set them into the smooth black dustbin to the left."
+  ],
+  "unseen": [
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode18.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e4d2c4b16dca5fb1dca10a81d1c0cb93b89ffb
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth yellow bottle with ridged cap, the water bottle with textured body, the smooth plastic bottle, and drop them into the black dustbin to the left of the table.",
+    "Begin with the yellow bottle body with tapered neck, move it to the dustbin with lid and bag, then continue with the smooth transparent plastic bottle and the plastic bottle with red cap.",
+    "Drop the bottle made of smooth plastic, the medium-sized water bottle, and the bottle with curved body shape into the medium black garbage container, handling them one at a time.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, the water bottle with textured body, the hand-sized drinking bottle, and place them one by one in the medium-sized black plastic dustbin.",
+    "Grab the bottle with small ridged green cap and the smooth transparent plastic bottle, put them into the black bin with white liner, and repeat for the rounded bottle with a white neck.",
+    "Grab the medium yellow cylindrical bottle, the transparent bottle, and the drink bottle with slim neck sequentially, placing each into the trash bin.",
+    "Using arms, grab the yellow bottle body with tapered neck and put it in the rectangular black trash holder, repeat for the clear bottle with blue sections and the red and black beverage bottle.",
+    "Using arms, pick up the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the bottle with curved body shape, dropping each into the black dustbin.",
+    "Put the bottle with green cap into the plastic dustbin, followed by the bottle with turquoise cap and the rounded bottle with a white neck.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the rectangular black trash holder, repeat for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Use arms to move the bottle made of smooth plastic, the bottle with narrow neck, and the plastic bottle with red cap into the trash bin.",
+    "Carry the yellow bottle first, drop it into the smooth black dustbin, repeat with the cylindrical bottle and the hand-sized drinking bottle.",
+    "Pick the yellow bottle, drop it into the plastic dustbin, then move the blue-accented cylindrical bottle and the drink bottle with slim neck into the plastic dustbin.",
+    "Move the yellow liquid container with green top, the blue-accented cylindrical bottle, and the plastic bottle with red cap into the dustbin with lid and bag one by one.",
+    "Grab the bottle made of smooth plastic, place it in the black bin with white liner, then grab the blue-accented cylindrical bottle and the hand-sized drinking bottle for the black bin with white liner.",
+    "Lift the bottle made of smooth plastic, the water bottle with textured body, and the drink bottle with slim neck, dropping each into the trash bin sequentially.",
+    "Use arms to pick the yellow liquid container with green top, the bottle for holding liquids, and the plastic bottle with red cap, dropping them into the smooth black dustbin.",
+    "Move the smooth yellow bottle with ridged cap to the plastic dustbin, then the bottle with turquoise cap, and finally the hand-sized drinking bottle.",
+    "With arms, place the bottle with green cap, the transparent bottle, and the plastic bottle with red cap into the medium black garbage container step by step.",
+    "Carefully grab the green-striped cap on yellow bottle, the bottle with narrow neck, and the black soda bottle with white top and position them in the trash bin.",
+    "Move the yellow liquid container with green top into the rectangular black trash holder, then do the same for the hand-sized bottle and the smooth plastic bottle.",
+    "Move the bottle made of smooth plastic, the smooth transparent plastic bottle, and the bottle with curved body shape to the smooth black dustbin sequentially using the arms.",
+    "Place the yellow bottle with smooth texture, the blue-accented cylindrical bottle, and the smooth plastic bottle into the dustbin with lid and bag one after another.",
+    "Transfer the yellow bottle, the water bottle with textured body, and the red bottle into the black garbage bin step by step.",
+    "Use the arms to transfer the yellow bottle, the water bottle with textured body, and the smooth plastic bottle into the black dustbin one by one.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the rounded bottle with a white neck to the trash bin on the table's left.",
+    "Pick the yellow bottle, the bottle for holding liquids, and the black bottle with red label one at a time and put them into the black dustbin.",
+    "Pick up the yellow liquid container with green top, the bottle for holding liquids, and the rounded bottle with a white neck, moving them one by one into the trash bin.",
+    "Take the bottle with green cap, the bottle with narrow neck, and the red bottle one at a time and place them into the dustbin with white inner bag.",
+    "Grab the cylindrical yellow bottle for holding liquids, put it in the medium-sized black plastic dustbin, follow by moving the bottle with narrow neck and the rounded bottle with a white neck there too.",
+    "Grab each of the yellow liquid container with green top, the transparent bottle, and the red and black beverage bottle and drop them into the black bin with white liner.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and place it in the medium black garbage container, do the same for the bottle with narrow neck and the rounded bottle with a white neck.",
+    "Transfer the yellow bottle, the cylindrical bottle, and the black and red bottle to the black dustbin located to the table's left.",
+    "Take the medium yellow cylindrical bottle with arms, put it in the dustbin with lid and bag, repeat the same for the medium-sized water bottle and the hand-sized drinking bottle.",
+    "Use arms to pick the bottle made of smooth plastic, the water bottle with textured body, and the smooth plastic bottle and place them in the medium-sized black plastic dustbin.",
+    "Start with the green-striped cap on yellow bottle, grab it and drop it into the medium black garbage container, repeat for the water bottle with textured body and the drink bottle with slim neck.",
+    "Place the smooth yellow bottle with ridged cap, the transparent bottle, and the black bottle with red label in the plastic dustbin using the arms.",
+    "Place the yellow bottle, the hand-sized bottle, and the smooth plastic bottle, one at a time, into the black garbage bin.",
+    "Place the green-striped cap on yellow bottle, the hand-sized bottle, and the black and red bottle into the trash bin after taking them individually.",
+    "Using arms, grab the yellow bottle body with tapered neck and the bottle for holding liquids, then place them into the smooth black dustbin along with the black soda bottle with white top.",
+    "Transfer the medium plastic bottle with tapered neck, the bottle with narrow neck, and the black and red bottle into the dustbin with lid and bag using your arms, one by one.",
+    "Use the arms to move the cylindrical yellow bottle for holding liquids into the black and white trash holder, then repeat for the cylindrical bottle and the black soda bottle with white top.",
+    "Grab the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the hand-sized drinking bottle and put them sequentially into the black and white trash holder.",
+    "Pick the yellow bottle body with tapered neck and move it into the black and white trash holder, repeat for the medium-sized water bottle and the drink bottle with slim neck.",
+    "Use arms to grab the yellow bottle body with tapered neck, the bottle with turquoise cap, the red-labeled soda bottle, and set them into the black and white trash holder to the left.",
+    "Take the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the hand-sized drinking bottle and place them into the dustbin with lid and bag on the left.",
+    "Grab the green-striped cap on yellow bottle, drop it in the rectangular black trash holder, do the same for the water bottle with textured body and the black and red bottle.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the cylindrical bottle, and the black soda bottle with white top into the black bin with white liner step by step.",
+    "Pick the bottle made of smooth plastic, the medium-sized water bottle, and the smooth plastic bottle from the table and place them inside the trash bin.",
+    "Take the yellow bottle body with tapered neck, drop it in the medium black garbage container, then move the clear bottle with blue sections and the plastic bottle with red cap to the medium black garbage container.",
+    "Grab the bottle with green cap, the bottle with narrow neck, the black and red bottle, and drop them into the smooth black dustbin to the left of the table.",
+    "Begin with the green-striped cap on yellow bottle, move it to the rectangular black trash holder, then continue with the smooth transparent plastic bottle and the red bottle.",
+    "Drop the smooth yellow bottle with ridged cap, the medium-sized water bottle, and the black bottle with red label into the trash bin, handling them one at a time.",
+    "Use arms to pick the green-striped cap on yellow bottle, the bottle for holding liquids, the black bottle with red label, and place them one by one in the dustbin with lid and bag.",
+    "Grab the bottle made of smooth plastic and the hand-sized bottle, put them into the smooth black dustbin, and repeat for the black bottle with red label.",
+    "Grab the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the red-labeled soda bottle sequentially, placing each into the plastic dustbin.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the black bin with white liner, repeat for the transparent bottle and the hand-sized drinking bottle.",
+    "Using arms, pick up the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the black and red bottle, dropping each into the black bin with white liner.",
+    "Put the bottle with small ridged green cap into the smooth black dustbin, followed by the bottle for holding liquids and the red bottle.",
+    "Use arms to pick the bottle with small ridged green cap, drop it in the dustbin with lid and bag, repeat for the medium-sized water bottle and the black bottle with red label.",
+    "Use arms to move the bottle made of smooth plastic, the medium-sized water bottle, and the red and black beverage bottle into the trash bin.",
+    "Carry the cylindrical yellow bottle for holding liquids first, drop it into the trash bin, repeat with the hand-sized bottle and the black and red bottle.",
+    "Pick the yellow bottle, drop it into the trash bin, then move the transparent bottle and the black bottle with red label into the trash bin.",
+    "Move the bottle with green cap, the blue-accented cylindrical bottle, and the red and black beverage bottle into the medium black garbage container one by one.",
+    "Grab the medium plastic bottle with tapered neck, place it in the black bin with white liner, then grab the cylindrical bottle and the red-labeled soda bottle for the black bin with white liner.",
+    "Lift the bottle made of smooth plastic, the bottle with ribbed design, and the red and black beverage bottle, dropping each into the medium black garbage container sequentially.",
+    "Use arms to pick the yellow bottle with smooth texture, the hand-sized bottle, and the red bottle, dropping them into the rectangular black trash holder.",
+    "Move the bottle with small ridged green cap to the dustbin with lid and bag, then the smooth transparent plastic bottle, and finally the bottle with curved body shape.",
+    "With arms, place the bottle with small ridged green cap, the bottle with narrow neck, and the hand-sized drinking bottle into the medium-sized black plastic dustbin step by step.",
+    "Carefully grab the medium plastic bottle with tapered neck, the cylindrical bottle, and the rounded bottle with a white neck and position them in the rectangular black trash holder.",
+    "Move the yellow liquid container with green top into the rectangular black trash holder, then do the same for the bottle with narrow neck and the smooth plastic bottle.",
+    "Move the medium yellow cylindrical bottle, the bottle with narrow neck, and the hand-sized drinking bottle to the medium black garbage container sequentially using the arms.",
+    "Place the medium plastic bottle with tapered neck, the bottle with narrow neck, and the red and black beverage bottle into the trash bin one after another.",
+    "Transfer the bottle with green cap, the bottle for holding liquids, and the smooth plastic bottle into the dustbin with lid and bag step by step.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the black soda bottle with white top into the smooth black dustbin one by one.",
+    "Use arms to move the green-striped cap on yellow bottle, the bottle with turquoise cap, and the red bottle to the smooth black dustbin on the table's left.",
+    "Pick the smooth yellow bottle with ridged cap, the hand-sized bottle, and the black soda bottle with white top one at a time and put them into the dustbin with lid and bag.",
+    "Pick up the yellow bottle with smooth texture, the cylindrical bottle, and the bottle with curved body shape, moving them one by one into the trash bin.",
+    "Take the medium yellow cylindrical bottle, the cylindrical bottle, and the plastic bottle with red cap one at a time and place them into the trash bin.",
+    "Grab the medium yellow cylindrical bottle, put it in the medium black garbage container, follow by moving the bottle with ribbed design and the plastic bottle with red cap there too.",
+    "Grab each of the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the red-labeled soda bottle and drop them into the trash bin.",
+    "Using arms, grab the yellow bottle body with tapered neck and place it in the medium-sized black plastic dustbin, do the same for the bottle with narrow neck and the black soda bottle with white top.",
+    "Transfer the green-striped cap on yellow bottle, the water bottle with textured body, and the smooth plastic bottle to the trash bin located to the table's left.",
+    "Take the yellow bottle with smooth texture with arms, put it in the black bin with white liner, repeat the same for the cylindrical bottle and the smooth plastic bottle.",
+    "Use arms to pick the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the black and red bottle and place them in the smooth black dustbin.",
+    "Start with the green-striped cap on yellow bottle, grab it and drop it into the trash bin, repeat for the bottle for holding liquids and the red bottle.",
+    "Place the green-striped cap on yellow bottle, the smooth transparent plastic bottle, and the black and red bottle in the black and white trash holder using the arms.",
+    "Place the smooth yellow bottle with ridged cap, the water bottle with textured body, and the rounded bottle with a white neck, one at a time, into the dustbin with lid and bag.",
+    "Place the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the bottle with curved body shape into the black dustbin after taking them individually.",
+    "Using arms, grab the green-striped cap on yellow bottle and the water bottle with textured body, then place them into the black and white trash holder along with the smooth plastic bottle.",
+    "Transfer the green-striped cap on yellow bottle, the hand-sized bottle, and the red and black beverage bottle into the medium black garbage container using your arms, one by one.",
+    "Use the arms to move the yellow bottle body with tapered neck into the trash bin, then repeat for the hand-sized bottle and the black and red bottle.",
+    "Grab the yellow bottle body with tapered neck, the bottle with ribbed design, and the red and black beverage bottle and put them sequentially into the dustbin with lid and bag.",
+    "Pick the bottle made of smooth plastic and move it into the smooth black dustbin, repeat for the transparent bottle and the red bottle.",
+    "Use arms to grab the medium yellow cylindrical bottle, the bottle with ribbed design, the red bottle, and set them into the medium-sized black plastic dustbin to the left.",
+    "Take the bottle made of smooth plastic, the transparent bottle, and the hand-sized drinking bottle and place them into the smooth black dustbin on the left.",
+    "Grab the cylindrical yellow bottle for holding liquids, drop it in the medium black garbage container, do the same for the medium-sized water bottle and the black bottle with red label.",
+    "Use the arms to transfer the bottle with green cap, the bottle with ribbed design, and the rounded bottle with a white neck into the medium-sized black plastic dustbin step by step.",
+    "Pick the bottle with green cap, the hand-sized bottle, and the smooth plastic bottle from the table and place them inside the black garbage bin.",
+    "Take the cylindrical yellow bottle for holding liquids, drop it in the black and white trash holder, then move the bottle for holding liquids and the rounded bottle with a white neck to the black and white trash holder."
+  ],
+  "unseen": [
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode19.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..268d4d5abea1202c18ef92e0159b5976e10a2ec6
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the green-striped cap on yellow bottle, the medium-sized water bottle, and the plastic bottle with red cap one at a time and place them into the smooth black dustbin.",
+    "Use arms to pick the green-striped cap on yellow bottle, the bottle with narrow neck, and the rounded bottle with a white neck and place them in the black dustbin.",
+    "Place the cylindrical yellow bottle for holding liquids, the transparent bottle, and the plastic bottle with red cap into the trash bin after taking them individually.",
+    "Transfer the yellow liquid container with green top, the cylindrical bottle, and the black soda bottle with white top into the smooth black dustbin step by step.",
+    "Grab the medium yellow cylindrical bottle, the medium-sized water bottle, and the drink bottle with slim neck sequentially, placing each into the smooth black dustbin.",
+    "Using arms, grab the medium yellow cylindrical bottle and place it in the plastic dustbin, do the same for the blue-accented cylindrical bottle and the rounded bottle with a white neck.",
+    "Move the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the black and red bottle into the black garbage bin one by one.",
+    "Grab the yellow liquid container with green top, the cylindrical bottle, the plastic bottle with red cap, and drop them into the medium-sized black plastic dustbin to the left of the table.",
+    "Start with the yellow bottle with smooth texture, grab it and drop it into the black bin with white liner, repeat for the water bottle with textured body and the smooth plastic bottle.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and the hand-sized bottle, then place them into the dustbin with lid and bag along with the bottle with curved body shape.",
+    "Using arms, grab the yellow bottle with smooth texture and put it in the medium-sized black plastic dustbin, repeat for the blue-accented cylindrical bottle and the drink bottle with slim neck.",
+    "Use the arms to transfer the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the black and red bottle into the plastic dustbin step by step.",
+    "With arms, place the medium plastic bottle with tapered neck, the hand-sized bottle, and the red-labeled soda bottle into the medium-sized black plastic dustbin step by step.",
+    "Place the bottle with green cap, the medium-sized water bottle, and the red and black beverage bottle, one at a time, into the trash bin.",
+    "Put the bottle with green cap into the smooth black dustbin, followed by the bottle with turquoise cap and the plastic bottle with red cap.",
+    "Grab the bottle with green cap and the smooth transparent plastic bottle, put them into the black garbage bin, and repeat for the red-labeled soda bottle.",
+    "Pick the yellow liquid container with green top, drop it into the medium black garbage container, then move the smooth transparent plastic bottle and the red-labeled soda bottle into the medium black garbage container.",
+    "Place the yellow bottle with smooth texture, the clear bottle with blue sections, and the black bottle with red label into the rectangular black trash holder one after another.",
+    "Begin with the bottle made of smooth plastic, move it to the black bin with white liner, then continue with the bottle with narrow neck and the bottle with curved body shape.",
+    "Use arms to move the medium yellow cylindrical bottle, the bottle with turquoise cap, and the black bottle with red label to the medium black garbage container on the table's left.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the rounded bottle with a white neck, dropping them into the dustbin with white inner bag.",
+    "Move the medium plastic bottle with tapered neck to the smooth black dustbin, then the bottle for holding liquids, and finally the black bottle with red label.",
+    "Use the arms to transfer the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the red bottle into the dustbin with lid and bag one by one.",
+    "Move the yellow bottle body with tapered neck, the bottle with ribbed design, and the smooth plastic bottle to the smooth black dustbin sequentially using the arms.",
+    "Using arms, pick up the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red bottle, dropping each into the black and white trash holder.",
+    "Pick the yellow bottle body with tapered neck, the water bottle with textured body, and the black bottle with red label one at a time and put them into the dustbin with white inner bag.",
+    "Use arms to move the bottle with small ridged green cap, the clear bottle with blue sections, and the plastic bottle with red cap into the plastic dustbin.",
+    "Take the cylindrical yellow bottle for holding liquids with arms, put it in the rectangular black trash holder, repeat the same for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Pick up the yellow bottle body with tapered neck, the transparent bottle, and the bottle with curved body shape, moving them one by one into the medium black garbage container.",
+    "Take the yellow bottle, the cylindrical bottle, and the bottle with curved body shape and place them into the dustbin with white inner bag on the left.",
+    "Use arms to pick the yellow liquid container with green top, the hand-sized bottle, the black soda bottle with white top, and place them one by one in the rectangular black trash holder.",
+    "Use the arms to move the bottle with small ridged green cap into the smooth black dustbin, then repeat for the bottle for holding liquids and the bottle with curved body shape.",
+    "Move the green-striped cap on yellow bottle into the black and white trash holder, then do the same for the bottle with ribbed design and the black bottle with red label.",
+    "Grab the bottle with green cap, the clear bottle with blue sections, and the hand-sized drinking bottle and put them sequentially into the trash bin.",
+    "Carefully grab the bottle with green cap, the bottle for holding liquids, and the smooth plastic bottle and position them in the black and white trash holder.",
+    "Grab the bottle with green cap, drop it in the rectangular black trash holder, do the same for the hand-sized bottle and the black and red bottle.",
+    "Grab the yellow bottle with smooth texture, place it in the black bin with white liner, then grab the hand-sized bottle and the smooth plastic bottle for the black bin with white liner.",
+    "Use arms to grab the bottle made of smooth plastic, the hand-sized bottle, the hand-sized drinking bottle, and set them into the black garbage bin to the left.",
+    "Grab the yellow bottle with smooth texture, put it in the medium black garbage container, follow by moving the medium-sized water bottle and the black and red bottle there too.",
+    "Pick the smooth yellow bottle with ridged cap and move it into the trash bin, repeat for the bottle for holding liquids and the hand-sized drinking bottle.",
+    "Drop the yellow bottle, the medium-sized water bottle, and the red-labeled soda bottle into the dustbin with white inner bag, handling them one at a time.",
+    "Transfer the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the drink bottle with slim neck into the plastic dustbin using your arms, one by one.",
+    "Lift the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the red bottle, dropping each into the rectangular black trash holder sequentially.",
+    "Take the yellow bottle with smooth texture, drop it in the dustbin with white inner bag, then move the clear bottle with blue sections and the red bottle to the dustbin with white inner bag.",
+    "Carry the bottle made of smooth plastic first, drop it into the black and white trash holder, repeat with the hand-sized bottle and the red bottle.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the smooth plastic bottle to the rectangular black trash holder located to the table's left.",
+    "Grab each of the bottle made of smooth plastic, the bottle for holding liquids, and the bottle with curved body shape and drop them into the black dustbin.",
+    "Pick the yellow liquid container with green top, the medium-sized water bottle, and the red and black beverage bottle from the table and place them inside the medium-sized black plastic dustbin.",
+    "Place the yellow bottle body with tapered neck, the smooth transparent plastic bottle, and the rounded bottle with a white neck in the black garbage bin using the arms.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, drop it in the smooth black dustbin, repeat for the hand-sized bottle and the plastic bottle with red cap.",
+    "Take the medium yellow cylindrical bottle, the bottle with narrow neck, and the red-labeled soda bottle one at a time and place them into the plastic dustbin.",
+    "Use arms to pick the green-striped cap on yellow bottle, the cylindrical bottle, and the red and black beverage bottle and place them in the dustbin with lid and bag.",
+    "Place the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the black soda bottle with white top into the black garbage bin after taking them individually.",
+    "Transfer the yellow bottle body with tapered neck, the water bottle with textured body, and the black bottle with red label into the dustbin with lid and bag step by step.",
+    "Grab the yellow bottle with smooth texture, the water bottle with textured body, and the red bottle sequentially, placing each into the smooth black dustbin.",
+    "Using arms, grab the medium plastic bottle with tapered neck and place it in the black dustbin, do the same for the bottle for holding liquids and the plastic bottle with red cap.",
+    "Move the yellow bottle body with tapered neck, the bottle with narrow neck, and the smooth plastic bottle into the black bin with white liner one by one.",
+    "Grab the green-striped cap on yellow bottle, the transparent bottle, the black bottle with red label, and drop them into the trash bin to the left of the table.",
+    "Start with the yellow liquid container with green top, grab it and drop it into the medium-sized black plastic dustbin, repeat for the clear bottle with blue sections and the black and red bottle.",
+    "Using arms, grab the bottle made of smooth plastic and the smooth transparent plastic bottle, then place them into the black dustbin along with the hand-sized drinking bottle.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the black dustbin, repeat for the clear bottle with blue sections and the red-labeled soda bottle.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the bottle for holding liquids, and the plastic bottle with red cap into the plastic dustbin step by step.",
+    "With arms, place the bottle with small ridged green cap, the hand-sized bottle, and the red bottle into the black dustbin step by step.",
+    "Place the smooth yellow bottle with ridged cap, the bottle with ribbed design, and the drink bottle with slim neck, one at a time, into the black bin with white liner.",
+    "Put the yellow bottle with smooth texture into the black and white trash holder, followed by the bottle for holding liquids and the red bottle.",
+    "Grab the yellow bottle with smooth texture and the bottle with narrow neck, put them into the medium black garbage container, and repeat for the black soda bottle with white top.",
+    "Pick the smooth yellow bottle with ridged cap, drop it into the medium-sized black plastic dustbin, then move the bottle for holding liquids and the smooth plastic bottle into the medium-sized black plastic dustbin.",
+    "Place the yellow bottle body with tapered neck, the bottle with turquoise cap, and the black soda bottle with white top into the dustbin with lid and bag one after another.",
+    "Begin with the bottle made of smooth plastic, move it to the plastic dustbin, then continue with the bottle for holding liquids and the red and black beverage bottle.",
+    "Use arms to move the bottle made of smooth plastic, the clear bottle with blue sections, and the black and red bottle to the black and white trash holder on the table's left.",
+    "Use arms to pick the bottle with green cap, the bottle with ribbed design, and the plastic bottle with red cap, dropping them into the black and white trash holder.",
+    "Move the bottle with green cap to the trash bin, then the transparent bottle, and finally the rounded bottle with a white neck.",
+    "Use the arms to transfer the yellow liquid container with green top, the bottle for holding liquids, and the hand-sized drinking bottle into the dustbin with lid and bag one by one.",
+    "Move the yellow bottle, the smooth transparent plastic bottle, and the black bottle with red label to the black bin with white liner sequentially using the arms.",
+    "Using arms, pick up the bottle with small ridged green cap, the medium-sized water bottle, and the red bottle, dropping each into the black and white trash holder.",
+    "Pick the bottle with small ridged green cap, the water bottle with textured body, and the red and black beverage bottle one at a time and put them into the dustbin with white inner bag.",
+    "Use arms to move the green-striped cap on yellow bottle, the bottle with narrow neck, and the bottle with curved body shape into the black and white trash holder.",
+    "Take the yellow bottle with smooth texture with arms, put it in the rectangular black trash holder, repeat the same for the cylindrical bottle and the hand-sized drinking bottle.",
+    "Pick up the yellow bottle, the transparent bottle, and the smooth plastic bottle, moving them one by one into the plastic dustbin.",
+    "Take the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the red bottle and place them into the rectangular black trash holder on the left.",
+    "Use arms to pick the bottle with small ridged green cap, the cylindrical bottle, the bottle with curved body shape, and place them one by one in the trash bin.",
+    "Use the arms to move the smooth yellow bottle with ridged cap into the smooth black dustbin, then repeat for the hand-sized bottle and the smooth plastic bottle.",
+    "Move the bottle with green cap into the rectangular black trash holder, then do the same for the smooth transparent plastic bottle and the bottle with curved body shape.",
+    "Grab the medium plastic bottle with tapered neck, the bottle for holding liquids, and the rounded bottle with a white neck and put them sequentially into the dustbin with white inner bag.",
+    "Carefully grab the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the hand-sized drinking bottle and position them in the rectangular black trash holder.",
+    "Grab the medium plastic bottle with tapered neck, drop it in the black dustbin, do the same for the hand-sized bottle and the rounded bottle with a white neck.",
+    "Grab the cylindrical yellow bottle for holding liquids, place it in the dustbin with white inner bag, then grab the clear bottle with blue sections and the rounded bottle with a white neck for the dustbin with white inner bag.",
+    "Use arms to grab the bottle with small ridged green cap, the bottle with narrow neck, the red-labeled soda bottle, and set them into the dustbin with lid and bag to the left.",
+    "Grab the yellow bottle with smooth texture, put it in the trash bin, follow by moving the medium-sized water bottle and the smooth plastic bottle there too.",
+    "Pick the medium plastic bottle with tapered neck and move it into the smooth black dustbin, repeat for the bottle with turquoise cap and the black bottle with red label.",
+    "Drop the medium plastic bottle with tapered neck, the bottle with ribbed design, and the plastic bottle with red cap into the black garbage bin, handling them one at a time.",
+    "Transfer the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the rounded bottle with a white neck into the medium-sized black plastic dustbin using your arms, one by one.",
+    "Lift the yellow bottle body with tapered neck, the smooth transparent plastic bottle, and the plastic bottle with red cap, dropping each into the black bin with white liner sequentially.",
+    "Take the green-striped cap on yellow bottle, drop it in the medium black garbage container, then move the smooth transparent plastic bottle and the red bottle to the medium black garbage container.",
+    "Carry the medium yellow cylindrical bottle first, drop it into the rectangular black trash holder, repeat with the water bottle with textured body and the black and red bottle.",
+    "Transfer the yellow bottle with smooth texture, the medium-sized water bottle, and the red-labeled soda bottle to the smooth black dustbin located to the table's left.",
+    "Grab each of the bottle made of smooth plastic, the hand-sized bottle, and the bottle with curved body shape and drop them into the medium black garbage container.",
+    "Pick the green-striped cap on yellow bottle, the medium-sized water bottle, and the black bottle with red label from the table and place them inside the rectangular black trash holder.",
+    "Place the yellow bottle body with tapered neck, the bottle with narrow neck, and the red and black beverage bottle in the dustbin with lid and bag using the arms.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, drop it in the medium-sized black plastic dustbin, repeat for the hand-sized bottle and the rounded bottle with a white neck."
+  ],
+  "unseen": [
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow plastic bottle, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode2.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a31824d1f191cec3fd1b3e737892650b53afb09
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the yellow bottle body with tapered neck, the clear bottle with blue sections, and the black bottle with red label one at a time and put them into the plastic dustbin.",
+    "Take the yellow bottle body with tapered neck with arms, put it in the medium black garbage container, repeat the same for the blue-accented cylindrical bottle and the red-labeled soda bottle.",
+    "Take the yellow bottle, the bottle for holding liquids, and the red and black beverage bottle and place them into the black and white trash holder on the left.",
+    "Grab the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the hand-sized drinking bottle and put them sequentially into the black dustbin.",
+    "Place the bottle with small ridged green cap, the transparent bottle, and the smooth plastic bottle, one at a time, into the medium black garbage container.",
+    "Place the medium yellow cylindrical bottle, the bottle with narrow neck, and the bottle with curved body shape into the medium black garbage container one after another.",
+    "Lift the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the black soda bottle with white top, dropping each into the trash bin sequentially.",
+    "Start with the medium plastic bottle with tapered neck, grab it and drop it into the black bin with white liner, repeat for the bottle with turquoise cap and the red and black beverage bottle.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, the cylindrical bottle, the black and red bottle, and place them one by one in the medium-sized black plastic dustbin.",
+    "Move the yellow bottle with smooth texture into the dustbin with white inner bag, then do the same for the bottle with turquoise cap and the bottle with curved body shape.",
+    "Move the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the plastic bottle with red cap into the black and white trash holder one by one.",
+    "Grab the bottle made of smooth plastic, the blue-accented cylindrical bottle, the drink bottle with slim neck, and drop them into the black garbage bin to the left of the table.",
+    "With arms, place the bottle with small ridged green cap, the transparent bottle, and the black bottle with red label into the black dustbin step by step.",
+    "Transfer the yellow bottle with smooth texture, the hand-sized bottle, and the black and red bottle into the black and white trash holder step by step.",
+    "Using arms, pick up the yellow liquid container with green top, the cylindrical bottle, and the black soda bottle with white top, dropping each into the trash bin.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the black soda bottle with white top and place them in the dustbin with lid and bag.",
+    "Pick the smooth yellow bottle with ridged cap, the water bottle with textured body, and the rounded bottle with a white neck from the table and place them inside the smooth black dustbin.",
+    "Place the yellow bottle body with tapered neck, the transparent bottle, and the black soda bottle with white top into the smooth black dustbin after taking them individually.",
+    "Use arms to pick the bottle with small ridged green cap, drop it in the dustbin with lid and bag, repeat for the bottle for holding liquids and the rounded bottle with a white neck.",
+    "Use arms to pick the yellow bottle with smooth texture, the clear bottle with blue sections, and the red-labeled soda bottle, dropping them into the black bin with white liner.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the plastic bottle with red cap into the black garbage bin step by step.",
+    "Carefully grab the medium yellow cylindrical bottle, the bottle with turquoise cap, and the drink bottle with slim neck and position them in the medium-sized black plastic dustbin.",
+    "Grab the medium yellow cylindrical bottle and the cylindrical bottle, put them into the black bin with white liner, and repeat for the smooth plastic bottle.",
+    "Use arms to grab the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, the black soda bottle with white top, and set them into the black dustbin to the left.",
+    "Pick the green-striped cap on yellow bottle and move it into the black and white trash holder, repeat for the smooth transparent plastic bottle and the red-labeled soda bottle.",
+    "Using arms, grab the bottle made of smooth plastic and place it in the black and white trash holder, do the same for the bottle for holding liquids and the black soda bottle with white top.",
+    "Use the arms to transfer the cylindrical yellow bottle for holding liquids, the water bottle with textured body, and the plastic bottle with red cap into the dustbin with lid and bag one by one.",
+    "Move the yellow bottle, the bottle with narrow neck, and the bottle with curved body shape to the plastic dustbin sequentially using the arms.",
+    "Grab the medium yellow cylindrical bottle, the clear bottle with blue sections, and the black and red bottle sequentially, placing each into the dustbin with lid and bag.",
+    "Pick the yellow bottle with smooth texture, drop it into the black dustbin, then move the water bottle with textured body and the plastic bottle with red cap into the black dustbin.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the dustbin with white inner bag, repeat for the bottle with ribbed design and the bottle with curved body shape.",
+    "Place the yellow bottle, the smooth transparent plastic bottle, and the drink bottle with slim neck in the black garbage bin using the arms.",
+    "Move the bottle with green cap to the medium black garbage container, then the cylindrical bottle, and finally the red-labeled soda bottle.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the plastic dustbin, repeat with the clear bottle with blue sections and the drink bottle with slim neck.",
+    "Using arms, grab the bottle made of smooth plastic and the bottle with turquoise cap, then place them into the medium black garbage container along with the smooth plastic bottle.",
+    "Transfer the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the drink bottle with slim neck into the medium-sized black plastic dustbin using your arms, one by one.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the smooth plastic bottle into the black dustbin.",
+    "Begin with the bottle with green cap, move it to the medium black garbage container, then continue with the hand-sized bottle and the black soda bottle with white top.",
+    "Grab the yellow bottle with smooth texture, place it in the black bin with white liner, then grab the water bottle with textured body and the bottle with curved body shape for the black bin with white liner.",
+    "Grab the medium yellow cylindrical bottle, drop it in the black bin with white liner, do the same for the hand-sized bottle and the black soda bottle with white top.",
+    "Drop the bottle with small ridged green cap, the bottle for holding liquids, and the smooth plastic bottle into the medium-sized black plastic dustbin, handling them one at a time.",
+    "Grab each of the bottle with small ridged green cap, the bottle with turquoise cap, and the drink bottle with slim neck and drop them into the black and white trash holder.",
+    "Use the arms to move the cylindrical yellow bottle for holding liquids into the black garbage bin, then repeat for the smooth transparent plastic bottle and the drink bottle with slim neck.",
+    "Pick up the green-striped cap on yellow bottle, the hand-sized bottle, and the bottle with curved body shape, moving them one by one into the black garbage bin.",
+    "Use arms to move the yellow bottle with smooth texture, the bottle with turquoise cap, and the red-labeled soda bottle to the trash bin on the table's left.",
+    "Take the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the black soda bottle with white top one at a time and place them into the dustbin with lid and bag.",
+    "Transfer the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the red bottle to the black dustbin located to the table's left.",
+    "Put the bottle with small ridged green cap into the trash bin, followed by the medium-sized water bottle and the rounded bottle with a white neck.",
+    "Take the yellow bottle with smooth texture, drop it in the black garbage bin, then move the transparent bottle and the black and red bottle to the black garbage bin.",
+    "Grab the bottle with green cap, put it in the black dustbin, follow by moving the cylindrical bottle and the rounded bottle with a white neck there too.",
+    "Pick the medium plastic bottle with tapered neck, the medium-sized water bottle, and the red and black beverage bottle one at a time and put them into the trash bin.",
+    "Take the yellow bottle with smooth texture with arms, put it in the smooth black dustbin, repeat the same for the smooth transparent plastic bottle and the black soda bottle with white top.",
+    "Take the green-striped cap on yellow bottle, the cylindrical bottle, and the red and black beverage bottle and place them into the black garbage bin on the left.",
+    "Grab the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the black bottle with red label and put them sequentially into the black and white trash holder.",
+    "Place the cylindrical yellow bottle for holding liquids, the transparent bottle, and the hand-sized drinking bottle, one at a time, into the smooth black dustbin.",
+    "Place the bottle with green cap, the transparent bottle, and the smooth plastic bottle into the medium-sized black plastic dustbin one after another.",
+    "Lift the yellow bottle with smooth texture, the water bottle with textured body, and the black and red bottle, dropping each into the trash bin sequentially.",
+    "Start with the medium yellow cylindrical bottle, grab it and drop it into the smooth black dustbin, repeat for the clear bottle with blue sections and the hand-sized drinking bottle.",
+    "Use arms to pick the bottle with small ridged green cap, the bottle with ribbed design, the red-labeled soda bottle, and place them one by one in the dustbin with white inner bag.",
+    "Move the yellow bottle body with tapered neck into the plastic dustbin, then do the same for the transparent bottle and the smooth plastic bottle.",
+    "Move the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the black bottle with red label into the black bin with white liner one by one.",
+    "Grab the yellow liquid container with green top, the clear bottle with blue sections, the black and red bottle, and drop them into the black and white trash holder to the left of the table.",
+    "With arms, place the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the red bottle into the dustbin with white inner bag step by step.",
+    "Transfer the yellow bottle, the bottle for holding liquids, and the hand-sized drinking bottle into the dustbin with white inner bag step by step.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the transparent bottle, and the bottle with curved body shape, dropping each into the dustbin with white inner bag.",
+    "Use arms to pick the yellow liquid container with green top, the medium-sized water bottle, and the plastic bottle with red cap and place them in the medium-sized black plastic dustbin.",
+    "Pick the smooth yellow bottle with ridged cap, the hand-sized bottle, and the plastic bottle with red cap from the table and place them inside the black and white trash holder.",
+    "Place the bottle with green cap, the transparent bottle, and the rounded bottle with a white neck into the black garbage bin after taking them individually.",
+    "Use arms to pick the yellow bottle, drop it in the medium black garbage container, repeat for the hand-sized bottle and the bottle with curved body shape.",
+    "Use arms to pick the yellow bottle with smooth texture, the cylindrical bottle, and the rounded bottle with a white neck, dropping them into the black garbage bin.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the hand-sized bottle, and the red-labeled soda bottle into the smooth black dustbin step by step.",
+    "Carefully grab the smooth yellow bottle with ridged cap, the water bottle with textured body, and the bottle with curved body shape and position them in the plastic dustbin.",
+    "Grab the green-striped cap on yellow bottle and the bottle with turquoise cap, put them into the black and white trash holder, and repeat for the plastic bottle with red cap.",
+    "Use arms to grab the bottle made of smooth plastic, the water bottle with textured body, the black soda bottle with white top, and set them into the smooth black dustbin to the left.",
+    "Pick the yellow bottle with smooth texture and move it into the black garbage bin, repeat for the smooth transparent plastic bottle and the black and red bottle.",
+    "Using arms, grab the yellow bottle and place it in the plastic dustbin, do the same for the bottle with turquoise cap and the drink bottle with slim neck.",
+    "Use the arms to transfer the yellow bottle with smooth texture, the blue-accented cylindrical bottle, and the red and black beverage bottle into the black bin with white liner one by one.",
+    "Move the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the drink bottle with slim neck to the black and white trash holder sequentially using the arms.",
+    "Grab the bottle made of smooth plastic, the bottle with turquoise cap, and the black bottle with red label sequentially, placing each into the black dustbin.",
+    "Pick the bottle with small ridged green cap, drop it into the black garbage bin, then move the clear bottle with blue sections and the drink bottle with slim neck into the black garbage bin.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the dustbin with white inner bag, repeat for the bottle with ribbed design and the bottle with curved body shape.",
+    "Place the medium yellow cylindrical bottle, the hand-sized bottle, and the black soda bottle with white top in the trash bin using the arms.",
+    "Move the cylindrical yellow bottle for holding liquids to the black and white trash holder, then the bottle with narrow neck, and finally the black soda bottle with white top.",
+    "Carry the yellow bottle first, drop it into the smooth black dustbin, repeat with the medium-sized water bottle and the red and black beverage bottle.",
+    "Using arms, grab the yellow bottle with smooth texture and the bottle for holding liquids, then place them into the black bin with white liner along with the red-labeled soda bottle.",
+    "Transfer the yellow bottle with smooth texture, the bottle with narrow neck, and the black soda bottle with white top into the black and white trash holder using your arms, one by one.",
+    "Use arms to move the medium plastic bottle with tapered neck, the water bottle with textured body, and the red and black beverage bottle into the black and white trash holder.",
+    "Begin with the yellow bottle with smooth texture, move it to the smooth black dustbin, then continue with the bottle with turquoise cap and the red and black beverage bottle.",
+    "Grab the bottle with green cap, place it in the black dustbin, then grab the smooth transparent plastic bottle and the rounded bottle with a white neck for the black dustbin.",
+    "Grab the smooth yellow bottle with ridged cap, drop it in the trash bin, do the same for the medium-sized water bottle and the smooth plastic bottle.",
+    "Drop the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the drink bottle with slim neck into the rectangular black trash holder, handling them one at a time.",
+    "Grab each of the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the black and red bottle and drop them into the trash bin.",
+    "Use the arms to move the bottle with green cap into the dustbin with white inner bag, then repeat for the clear bottle with blue sections and the black soda bottle with white top.",
+    "Pick up the bottle with green cap, the bottle with narrow neck, and the plastic bottle with red cap, moving them one by one into the smooth black dustbin.",
+    "Use arms to move the bottle made of smooth plastic, the cylindrical bottle, and the drink bottle with slim neck to the plastic dustbin on the table's left.",
+    "Take the yellow bottle body with tapered neck, the smooth transparent plastic bottle, and the plastic bottle with red cap one at a time and place them into the black dustbin.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the red bottle to the trash bin located to the table's left.",
+    "Put the medium yellow cylindrical bottle into the trash bin, followed by the bottle with ribbed design and the rounded bottle with a white neck.",
+    "Take the green-striped cap on yellow bottle, drop it in the rectangular black trash holder, then move the clear bottle with blue sections and the plastic bottle with red cap to the rectangular black trash holder.",
+    "Grab the green-striped cap on yellow bottle, put it in the rectangular black trash holder, follow by moving the bottle for holding liquids and the red bottle there too."
+  ],
+  "unseen": [
+    "Pick up the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode3.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3258ce2957d55ce255ecdf6fcc7d56d0bbf8f1b
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Begin with the green-striped cap on yellow bottle, move it to the dustbin with lid and bag, then continue with the cylindrical bottle and the drink bottle with slim neck.",
+    "Pick the medium plastic bottle with tapered neck, the water bottle with textured body, and the red bottle from the table and place them inside the black dustbin.",
+    "Grab the medium yellow cylindrical bottle, the bottle with narrow neck, the red bottle, and drop them into the black bin with white liner to the left of the table.",
+    "Use arms to pick the yellow bottle with smooth texture, drop it in the black dustbin, repeat for the water bottle with textured body and the black and red bottle.",
+    "Place the yellow bottle, the bottle with turquoise cap, and the black bottle with red label, one at a time, into the medium-sized black plastic dustbin.",
+    "With arms, place the yellow liquid container with green top, the medium-sized water bottle, and the red and black beverage bottle into the black bin with white liner step by step.",
+    "Put the medium yellow cylindrical bottle into the black garbage bin, followed by the bottle for holding liquids and the black and red bottle.",
+    "Grab the green-striped cap on yellow bottle, the bottle with ribbed design, and the smooth plastic bottle sequentially, placing each into the medium black garbage container.",
+    "Use arms to move the yellow bottle with smooth texture, the cylindrical bottle, and the hand-sized drinking bottle into the dustbin with white inner bag.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the clear bottle with blue sections, and the smooth plastic bottle into the dustbin with lid and bag step by step.",
+    "Grab the yellow bottle with smooth texture, place it in the smooth black dustbin, then grab the hand-sized bottle and the hand-sized drinking bottle for the smooth black dustbin.",
+    "Using arms, grab the bottle with small ridged green cap and place it in the medium black garbage container, do the same for the transparent bottle and the drink bottle with slim neck.",
+    "Transfer the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the red bottle to the plastic dustbin located to the table's left.",
+    "Lift the green-striped cap on yellow bottle, the hand-sized bottle, and the hand-sized drinking bottle, dropping each into the dustbin with white inner bag sequentially.",
+    "Pick the smooth yellow bottle with ridged cap, drop it into the smooth black dustbin, then move the bottle with ribbed design and the black bottle with red label into the smooth black dustbin.",
+    "Place the yellow bottle body with tapered neck, the bottle with narrow neck, and the smooth plastic bottle into the smooth black dustbin after taking them individually.",
+    "Grab the smooth yellow bottle with ridged cap, put it in the medium black garbage container, follow by moving the hand-sized bottle and the smooth plastic bottle there too.",
+    "Use arms to pick the yellow bottle, the hand-sized bottle, and the hand-sized drinking bottle and place them in the rectangular black trash holder.",
+    "Move the bottle with green cap to the trash bin, then the smooth transparent plastic bottle, and finally the black and red bottle.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the rounded bottle with a white neck, dropping them into the medium black garbage container.",
+    "Move the yellow bottle body with tapered neck into the rectangular black trash holder, then do the same for the bottle for holding liquids and the rounded bottle with a white neck.",
+    "Use arms to pick the green-striped cap on yellow bottle, the clear bottle with blue sections, the red and black beverage bottle, and place them one by one in the dustbin with white inner bag.",
+    "Transfer the yellow bottle, the water bottle with textured body, and the drink bottle with slim neck into the trash bin using your arms, one by one.",
+    "Use the arms to transfer the bottle with green cap, the medium-sized water bottle, and the black and red bottle into the dustbin with lid and bag one by one.",
+    "Start with the bottle made of smooth plastic, grab it and drop it into the trash bin, repeat for the water bottle with textured body and the rounded bottle with a white neck.",
+    "Move the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the hand-sized drinking bottle into the dustbin with white inner bag one by one.",
+    "Carry the bottle made of smooth plastic first, drop it into the dustbin with white inner bag, repeat with the transparent bottle and the red bottle.",
+    "Grab the green-striped cap on yellow bottle, the cylindrical bottle, and the red bottle and put them sequentially into the trash bin.",
+    "Pick the yellow bottle body with tapered neck, the cylindrical bottle, and the smooth plastic bottle one at a time and put them into the dustbin with lid and bag.",
+    "Using arms, pick up the yellow bottle body with tapered neck, the bottle for holding liquids, and the plastic bottle with red cap, dropping each into the dustbin with lid and bag.",
+    "Use the arms to move the medium plastic bottle with tapered neck into the rectangular black trash holder, then repeat for the transparent bottle and the red and black beverage bottle.",
+    "Take the yellow bottle body with tapered neck with arms, put it in the black and white trash holder, repeat the same for the medium-sized water bottle and the drink bottle with slim neck.",
+    "Transfer the yellow bottle body with tapered neck, the bottle with narrow neck, and the red and black beverage bottle into the plastic dustbin step by step.",
+    "Drop the yellow liquid container with green top, the bottle with narrow neck, and the smooth plastic bottle into the black garbage bin, handling them one at a time.",
+    "Grab each of the yellow bottle body with tapered neck, the medium-sized water bottle, and the bottle with curved body shape and drop them into the medium black garbage container.",
+    "Place the yellow bottle with smooth texture, the transparent bottle, and the smooth plastic bottle into the black and white trash holder one after another.",
+    "Use arms to move the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the hand-sized drinking bottle to the dustbin with lid and bag on the table's left.",
+    "Use arms to grab the bottle with green cap, the clear bottle with blue sections, the black bottle with red label, and set them into the smooth black dustbin to the left.",
+    "Place the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the smooth plastic bottle in the medium-sized black plastic dustbin using the arms.",
+    "Pick the green-striped cap on yellow bottle and move it into the trash bin, repeat for the hand-sized bottle and the plastic bottle with red cap.",
+    "Grab the bottle made of smooth plastic and the bottle with ribbed design, put them into the black bin with white liner, and repeat for the red-labeled soda bottle.",
+    "Take the yellow liquid container with green top, the bottle with narrow neck, and the rounded bottle with a white neck one at a time and place them into the black and white trash holder.",
+    "Grab the yellow bottle body with tapered neck, drop it in the dustbin with lid and bag, do the same for the bottle with turquoise cap and the hand-sized drinking bottle.",
+    "Using arms, grab the yellow bottle with smooth texture and put it in the medium-sized black plastic dustbin, repeat for the bottle with narrow neck and the hand-sized drinking bottle.",
+    "Pick up the bottle with small ridged green cap, the medium-sized water bottle, and the smooth plastic bottle, moving them one by one into the plastic dustbin.",
+    "Move the medium yellow cylindrical bottle, the transparent bottle, and the rounded bottle with a white neck to the black bin with white liner sequentially using the arms.",
+    "Using arms, grab the yellow bottle body with tapered neck and the bottle with narrow neck, then place them into the smooth black dustbin along with the red-labeled soda bottle.",
+    "Take the bottle with small ridged green cap, the bottle with narrow neck, and the red bottle and place them into the black dustbin on the left.",
+    "Carefully grab the yellow bottle body with tapered neck, the bottle with turquoise cap, and the smooth plastic bottle and position them in the black garbage bin.",
+    "Take the yellow bottle body with tapered neck, drop it in the medium black garbage container, then move the water bottle with textured body and the red-labeled soda bottle to the medium black garbage container.",
+    "Begin with the bottle with small ridged green cap, move it to the black bin with white liner, then continue with the clear bottle with blue sections and the red-labeled soda bottle.",
+    "Pick the green-striped cap on yellow bottle, the water bottle with textured body, and the bottle with curved body shape from the table and place them inside the trash bin.",
+    "Grab the medium yellow cylindrical bottle, the bottle for holding liquids, the plastic bottle with red cap, and drop them into the black garbage bin to the left of the table.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, drop it in the dustbin with white inner bag, repeat for the hand-sized bottle and the drink bottle with slim neck.",
+    "Place the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the black bottle with red label, one at a time, into the black garbage bin.",
+    "With arms, place the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the black bottle with red label into the medium-sized black plastic dustbin step by step.",
+    "Put the cylindrical yellow bottle for holding liquids into the black garbage bin, followed by the clear bottle with blue sections and the black bottle with red label.",
+    "Grab the bottle with green cap, the cylindrical bottle, and the red bottle sequentially, placing each into the smooth black dustbin.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the hand-sized drinking bottle into the dustbin with lid and bag.",
+    "Use the arms to transfer the cylindrical yellow bottle for holding liquids, the cylindrical bottle, and the black soda bottle with white top into the medium black garbage container step by step.",
+    "Grab the bottle with green cap, place it in the plastic dustbin, then grab the smooth transparent plastic bottle and the rounded bottle with a white neck for the plastic dustbin.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and place it in the black dustbin, do the same for the bottle with ribbed design and the black and red bottle.",
+    "Transfer the bottle with small ridged green cap, the clear bottle with blue sections, and the black soda bottle with white top to the black dustbin located to the table's left.",
+    "Lift the medium plastic bottle with tapered neck, the bottle with narrow neck, and the plastic bottle with red cap, dropping each into the black bin with white liner sequentially.",
+    "Pick the yellow bottle with smooth texture, drop it into the rectangular black trash holder, then move the hand-sized bottle and the rounded bottle with a white neck into the rectangular black trash holder.",
+    "Place the bottle made of smooth plastic, the bottle with ribbed design, and the hand-sized drinking bottle into the black garbage bin after taking them individually.",
+    "Grab the cylindrical yellow bottle for holding liquids, put it in the rectangular black trash holder, follow by moving the bottle with narrow neck and the drink bottle with slim neck there too.",
+    "Use arms to pick the yellow bottle body with tapered neck, the bottle for holding liquids, and the drink bottle with slim neck and place them in the medium-sized black plastic dustbin.",
+    "Move the bottle made of smooth plastic to the black and white trash holder, then the medium-sized water bottle, and finally the rounded bottle with a white neck.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the bottle with curved body shape, dropping them into the medium-sized black plastic dustbin.",
+    "Move the bottle made of smooth plastic into the trash bin, then do the same for the bottle with ribbed design and the red-labeled soda bottle.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, the hand-sized drinking bottle, and place them one by one in the black dustbin.",
+    "Transfer the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the bottle with curved body shape into the smooth black dustbin using your arms, one by one.",
+    "Use the arms to transfer the bottle made of smooth plastic, the water bottle with textured body, and the plastic bottle with red cap into the medium-sized black plastic dustbin one by one.",
+    "Start with the yellow bottle, grab it and drop it into the medium-sized black plastic dustbin, repeat for the clear bottle with blue sections and the red bottle.",
+    "Move the cylindrical yellow bottle for holding liquids, the bottle for holding liquids, and the red and black beverage bottle into the rectangular black trash holder one by one.",
+    "Carry the yellow bottle with smooth texture first, drop it into the smooth black dustbin, repeat with the bottle with narrow neck and the red bottle.",
+    "Grab the yellow bottle, the clear bottle with blue sections, and the red-labeled soda bottle and put them sequentially into the rectangular black trash holder.",
+    "Pick the green-striped cap on yellow bottle, the bottle with turquoise cap, and the bottle with curved body shape one at a time and put them into the black bin with white liner.",
+    "Using arms, pick up the yellow bottle with smooth texture, the bottle for holding liquids, and the rounded bottle with a white neck, dropping each into the trash bin.",
+    "Use the arms to move the yellow bottle into the dustbin with white inner bag, then repeat for the bottle with turquoise cap and the drink bottle with slim neck.",
+    "Take the bottle with green cap with arms, put it in the dustbin with white inner bag, repeat the same for the bottle with narrow neck and the bottle with curved body shape.",
+    "Transfer the medium plastic bottle with tapered neck, the bottle with narrow neck, and the black and red bottle into the black and white trash holder step by step.",
+    "Drop the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the drink bottle with slim neck into the black bin with white liner, handling them one at a time.",
+    "Grab each of the yellow bottle, the smooth transparent plastic bottle, and the smooth plastic bottle and drop them into the dustbin with white inner bag.",
+    "Place the yellow liquid container with green top, the water bottle with textured body, and the drink bottle with slim neck into the black garbage bin one after another.",
+    "Use arms to move the yellow bottle with smooth texture, the bottle with turquoise cap, and the bottle with curved body shape to the medium-sized black plastic dustbin on the table's left.",
+    "Use arms to grab the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, the red-labeled soda bottle, and set them into the black and white trash holder to the left.",
+    "Place the bottle made of smooth plastic, the cylindrical bottle, and the black soda bottle with white top in the black dustbin using the arms.",
+    "Pick the smooth yellow bottle with ridged cap and move it into the black bin with white liner, repeat for the bottle with turquoise cap and the bottle with curved body shape.",
+    "Grab the medium yellow cylindrical bottle and the clear bottle with blue sections, put them into the dustbin with lid and bag, and repeat for the red bottle.",
+    "Take the medium plastic bottle with tapered neck, the bottle with narrow neck, and the drink bottle with slim neck one at a time and place them into the plastic dustbin.",
+    "Grab the yellow liquid container with green top, drop it in the black dustbin, do the same for the blue-accented cylindrical bottle and the red and black beverage bottle.",
+    "Using arms, grab the yellow liquid container with green top and put it in the trash bin, repeat for the bottle with turquoise cap and the red bottle.",
+    "Pick up the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red bottle, moving them one by one into the medium-sized black plastic dustbin.",
+    "Move the yellow bottle with smooth texture, the transparent bottle, and the bottle with curved body shape to the black and white trash holder sequentially using the arms.",
+    "Using arms, grab the medium yellow cylindrical bottle and the hand-sized bottle, then place them into the smooth black dustbin along with the red bottle.",
+    "Take the yellow bottle with smooth texture, the transparent bottle, and the plastic bottle with red cap and place them into the rectangular black trash holder on the left.",
+    "Carefully grab the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black and red bottle and position them in the black dustbin.",
+    "Take the medium yellow cylindrical bottle, drop it in the trash bin, then move the transparent bottle and the red and black beverage bottle to the trash bin."
+  ],
+  "unseen": [
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode4.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe662b904797cdf02ce72723551350b302fb4255
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using arms, grab the yellow bottle and put it in the black bin with white liner, repeat for the blue-accented cylindrical bottle and the hand-sized drinking bottle.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the hand-sized bottle, and the smooth plastic bottle, dropping each into the black and white trash holder.",
+    "Take the green-striped cap on yellow bottle, drop it in the rectangular black trash holder, then move the bottle with ribbed design and the rounded bottle with a white neck to the rectangular black trash holder.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the black bin with white liner, repeat with the bottle for holding liquids and the red and black beverage bottle.",
+    "Pick the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the plastic bottle with red cap one at a time and put them into the black and white trash holder.",
+    "Use arms to move the yellow liquid container with green top, the bottle for holding liquids, and the red and black beverage bottle to the plastic dustbin on the table's left.",
+    "Transfer the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the red bottle to the black bin with white liner located to the table's left.",
+    "Use arms to pick the yellow bottle, the transparent bottle, and the drink bottle with slim neck and place them in the smooth black dustbin.",
+    "Move the medium plastic bottle with tapered neck into the medium black garbage container, then do the same for the bottle with turquoise cap and the rounded bottle with a white neck.",
+    "Grab the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, the plastic bottle with red cap, and drop them into the medium black garbage container to the left of the table.",
+    "Use arms to pick the bottle with green cap, the bottle with ribbed design, and the red-labeled soda bottle, dropping them into the black and white trash holder.",
+    "Use the arms to move the bottle with small ridged green cap into the trash bin, then repeat for the cylindrical bottle and the red and black beverage bottle.",
+    "Take the medium yellow cylindrical bottle, the water bottle with textured body, and the red-labeled soda bottle one at a time and place them into the medium black garbage container.",
+    "Use arms to move the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the black bottle with red label into the black and white trash holder.",
+    "Pick the yellow bottle body with tapered neck, the blue-accented cylindrical bottle, and the hand-sized drinking bottle from the table and place them inside the black dustbin.",
+    "Take the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the black soda bottle with white top and place them into the plastic dustbin on the left.",
+    "Put the green-striped cap on yellow bottle into the medium-sized black plastic dustbin, followed by the water bottle with textured body and the bottle with curved body shape.",
+    "Pick the cylindrical yellow bottle for holding liquids, drop it into the dustbin with white inner bag, then move the cylindrical bottle and the red bottle into the dustbin with white inner bag.",
+    "Using arms, grab the bottle made of smooth plastic and the clear bottle with blue sections, then place them into the rectangular black trash holder along with the black and red bottle.",
+    "Place the yellow liquid container with green top, the bottle with ribbed design, and the plastic bottle with red cap, one at a time, into the trash bin.",
+    "Grab the yellow bottle with smooth texture and the bottle with turquoise cap, put them into the medium-sized black plastic dustbin, and repeat for the black soda bottle with white top.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the plastic bottle with red cap into the black and white trash holder step by step.",
+    "Carefully grab the yellow bottle, the clear bottle with blue sections, and the black bottle with red label and position them in the dustbin with white inner bag.",
+    "Move the medium yellow cylindrical bottle, the water bottle with textured body, and the black soda bottle with white top into the trash bin one by one.",
+    "Take the bottle made of smooth plastic with arms, put it in the black bin with white liner, repeat the same for the bottle with turquoise cap and the hand-sized drinking bottle.",
+    "Pick the bottle with small ridged green cap and move it into the black bin with white liner, repeat for the water bottle with textured body and the hand-sized drinking bottle.",
+    "Grab the smooth yellow bottle with ridged cap, drop it in the trash bin, do the same for the bottle with turquoise cap and the bottle with curved body shape.",
+    "Pick up the yellow bottle with smooth texture, the bottle for holding liquids, and the hand-sized drinking bottle, moving them one by one into the trash bin.",
+    "Place the cylindrical yellow bottle for holding liquids, the transparent bottle, and the black and red bottle into the black garbage bin one after another.",
+    "Begin with the yellow bottle, move it to the black and white trash holder, then continue with the clear bottle with blue sections and the black and red bottle.",
+    "Move the yellow bottle with smooth texture, the bottle for holding liquids, and the black bottle with red label to the medium black garbage container sequentially using the arms.",
+    "Grab each of the bottle with small ridged green cap, the hand-sized bottle, and the red-labeled soda bottle and drop them into the trash bin.",
+    "Place the yellow bottle body with tapered neck, the bottle with turquoise cap, and the red and black beverage bottle into the black bin with white liner after taking them individually.",
+    "Move the yellow bottle to the black garbage bin, then the clear bottle with blue sections, and finally the red and black beverage bottle.",
+    "Use arms to pick the green-striped cap on yellow bottle, the water bottle with textured body, the red-labeled soda bottle, and place them one by one in the black garbage bin.",
+    "Use arms to pick the medium yellow cylindrical bottle, drop it in the smooth black dustbin, repeat for the hand-sized bottle and the plastic bottle with red cap.",
+    "Grab the medium yellow cylindrical bottle, the bottle with narrow neck, and the bottle with curved body shape and put them sequentially into the medium-sized black plastic dustbin.",
+    "Grab the medium plastic bottle with tapered neck, put it in the rectangular black trash holder, follow by moving the water bottle with textured body and the red and black beverage bottle there too.",
+    "Place the yellow liquid container with green top, the bottle for holding liquids, and the black soda bottle with white top in the rectangular black trash holder using the arms.",
+    "Use arms to grab the yellow bottle with smooth texture, the transparent bottle, the smooth plastic bottle, and set them into the trash bin to the left.",
+    "With arms, place the smooth yellow bottle with ridged cap, the transparent bottle, and the red bottle into the black and white trash holder step by step.",
+    "Using arms, grab the medium plastic bottle with tapered neck and place it in the dustbin with white inner bag, do the same for the smooth transparent plastic bottle and the black soda bottle with white top.",
+    "Start with the yellow liquid container with green top, grab it and drop it into the dustbin with lid and bag, repeat for the smooth transparent plastic bottle and the black soda bottle with white top.",
+    "Transfer the yellow bottle, the bottle with turquoise cap, and the black and red bottle into the black bin with white liner using your arms, one by one.",
+    "Use the arms to transfer the yellow liquid container with green top, the medium-sized water bottle, and the black soda bottle with white top into the rectangular black trash holder one by one.",
+    "Grab the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the red-labeled soda bottle sequentially, placing each into the rectangular black trash holder.",
+    "Lift the bottle made of smooth plastic, the medium-sized water bottle, and the red and black beverage bottle, dropping each into the black and white trash holder sequentially.",
+    "Transfer the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the red and black beverage bottle into the rectangular black trash holder step by step.",
+    "Drop the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the rounded bottle with a white neck into the plastic dustbin, handling them one at a time.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the medium black garbage container, then grab the cylindrical bottle and the smooth plastic bottle for the medium black garbage container.",
+    "Using arms, grab the medium plastic bottle with tapered neck and put it in the black and white trash holder, repeat for the clear bottle with blue sections and the red bottle.",
+    "Using arms, pick up the smooth yellow bottle with ridged cap, the blue-accented cylindrical bottle, and the rounded bottle with a white neck, dropping each into the dustbin with lid and bag.",
+    "Take the cylindrical yellow bottle for holding liquids, drop it in the trash bin, then move the bottle with narrow neck and the drink bottle with slim neck to the trash bin.",
+    "Carry the bottle with small ridged green cap first, drop it into the plastic dustbin, repeat with the medium-sized water bottle and the black and red bottle.",
+    "Pick the yellow liquid container with green top, the cylindrical bottle, and the bottle with curved body shape one at a time and put them into the medium black garbage container.",
+    "Use arms to move the bottle made of smooth plastic, the clear bottle with blue sections, and the black bottle with red label to the medium-sized black plastic dustbin on the table's left.",
+    "Transfer the smooth yellow bottle with ridged cap, the cylindrical bottle, and the bottle with curved body shape to the dustbin with white inner bag located to the table's left.",
+    "Use arms to pick the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black and red bottle and place them in the dustbin with white inner bag.",
+    "Move the bottle with green cap into the dustbin with lid and bag, then do the same for the bottle with ribbed design and the red bottle.",
+    "Grab the smooth yellow bottle with ridged cap, the transparent bottle, the red bottle, and drop them into the black dustbin to the left of the table.",
+    "Use arms to pick the medium yellow cylindrical bottle, the bottle with turquoise cap, and the drink bottle with slim neck, dropping them into the dustbin with white inner bag.",
+    "Use the arms to move the medium yellow cylindrical bottle into the black bin with white liner, then repeat for the blue-accented cylindrical bottle and the drink bottle with slim neck.",
+    "Take the yellow liquid container with green top, the bottle with ribbed design, and the red-labeled soda bottle one at a time and place them into the smooth black dustbin.",
+    "Use arms to move the medium yellow cylindrical bottle, the medium-sized water bottle, and the black bottle with red label into the medium black garbage container.",
+    "Pick the bottle made of smooth plastic, the bottle with narrow neck, and the bottle with curved body shape from the table and place them inside the black bin with white liner.",
+    "Take the yellow bottle with smooth texture, the cylindrical bottle, and the drink bottle with slim neck and place them into the smooth black dustbin on the left.",
+    "Put the yellow bottle body with tapered neck into the dustbin with lid and bag, followed by the medium-sized water bottle and the plastic bottle with red cap.",
+    "Pick the yellow bottle with smooth texture, drop it into the plastic dustbin, then move the hand-sized bottle and the black and red bottle into the plastic dustbin.",
+    "Using arms, grab the yellow bottle body with tapered neck and the water bottle with textured body, then place them into the black garbage bin along with the red-labeled soda bottle.",
+    "Place the yellow bottle, the smooth transparent plastic bottle, and the red-labeled soda bottle, one at a time, into the black dustbin.",
+    "Grab the yellow liquid container with green top and the transparent bottle, put them into the medium black garbage container, and repeat for the hand-sized drinking bottle.",
+    "Use the arms to transfer the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the red bottle into the black and white trash holder step by step.",
+    "Carefully grab the bottle with small ridged green cap, the smooth transparent plastic bottle, and the red-labeled soda bottle and position them in the black bin with white liner.",
+    "Move the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the plastic bottle with red cap into the black and white trash holder one by one.",
+    "Take the bottle with small ridged green cap with arms, put it in the medium black garbage container, repeat the same for the bottle with ribbed design and the black soda bottle with white top.",
+    "Pick the bottle with green cap and move it into the medium black garbage container, repeat for the water bottle with textured body and the plastic bottle with red cap.",
+    "Grab the bottle with small ridged green cap, drop it in the dustbin with white inner bag, do the same for the bottle with turquoise cap and the rounded bottle with a white neck.",
+    "Pick up the bottle made of smooth plastic, the bottle for holding liquids, and the rounded bottle with a white neck, moving them one by one into the rectangular black trash holder.",
+    "Place the yellow bottle, the medium-sized water bottle, and the drink bottle with slim neck into the black and white trash holder one after another.",
+    "Begin with the green-striped cap on yellow bottle, move it to the plastic dustbin, then continue with the smooth transparent plastic bottle and the black and red bottle.",
+    "Move the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the drink bottle with slim neck to the black garbage bin sequentially using the arms.",
+    "Grab each of the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the black and red bottle and drop them into the rectangular black trash holder.",
+    "Place the bottle made of smooth plastic, the bottle with narrow neck, and the black and red bottle into the black dustbin after taking them individually.",
+    "Move the yellow bottle with smooth texture to the black and white trash holder, then the cylindrical bottle, and finally the red-labeled soda bottle.",
+    "Use arms to pick the yellow bottle body with tapered neck, the medium-sized water bottle, the drink bottle with slim neck, and place them one by one in the rectangular black trash holder.",
+    "Use arms to pick the bottle made of smooth plastic, drop it in the smooth black dustbin, repeat for the clear bottle with blue sections and the red and black beverage bottle.",
+    "Grab the bottle made of smooth plastic, the smooth transparent plastic bottle, and the bottle with curved body shape and put them sequentially into the black and white trash holder.",
+    "Grab the green-striped cap on yellow bottle, put it in the rectangular black trash holder, follow by moving the transparent bottle and the bottle with curved body shape there too.",
+    "Place the bottle with green cap, the bottle with turquoise cap, and the red-labeled soda bottle in the trash bin using the arms.",
+    "Use arms to grab the yellow bottle, the bottle with turquoise cap, the hand-sized drinking bottle, and set them into the dustbin with lid and bag to the left.",
+    "With arms, place the yellow bottle, the water bottle with textured body, and the black soda bottle with white top into the medium-sized black plastic dustbin step by step.",
+    "Using arms, grab the bottle with small ridged green cap and place it in the dustbin with white inner bag, do the same for the bottle with turquoise cap and the red and black beverage bottle.",
+    "Start with the yellow bottle with smooth texture, grab it and drop it into the dustbin with white inner bag, repeat for the smooth transparent plastic bottle and the drink bottle with slim neck.",
+    "Transfer the yellow bottle with smooth texture, the clear bottle with blue sections, and the black bottle with red label into the trash bin using your arms, one by one.",
+    "Use the arms to transfer the yellow bottle body with tapered neck, the cylindrical bottle, and the red-labeled soda bottle into the black dustbin one by one.",
+    "Grab the yellow bottle body with tapered neck, the bottle with ribbed design, and the black bottle with red label sequentially, placing each into the dustbin with lid and bag.",
+    "Lift the yellow bottle body with tapered neck, the medium-sized water bottle, and the red and black beverage bottle, dropping each into the rectangular black trash holder sequentially.",
+    "Transfer the medium yellow cylindrical bottle, the bottle with ribbed design, and the hand-sized drinking bottle into the dustbin with lid and bag step by step.",
+    "Drop the bottle with small ridged green cap, the medium-sized water bottle, and the rounded bottle with a white neck into the black bin with white liner, handling them one at a time.",
+    "Grab the green-striped cap on yellow bottle, place it in the rectangular black trash holder, then grab the bottle with narrow neck and the black soda bottle with white top for the rectangular black trash holder."
+  ],
+  "unseen": [
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode5.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b45463b8b8527176e1f59aec888b6392f0ba3c
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cylindrical yellow bottle for holding liquids to the plastic dustbin, then the medium-sized water bottle, and finally the drink bottle with slim neck.",
+    "Grab each of the medium yellow cylindrical bottle, the bottle with turquoise cap, and the red-labeled soda bottle and drop them into the black bin with white liner.",
+    "Pick the bottle with small ridged green cap, the bottle with turquoise cap, and the black soda bottle with white top from the table and place them inside the plastic dustbin.",
+    "Put the yellow bottle with smooth texture into the medium-sized black plastic dustbin, followed by the water bottle with textured body and the hand-sized drinking bottle.",
+    "Move the medium plastic bottle with tapered neck, the cylindrical bottle, and the black soda bottle with white top to the black dustbin sequentially using the arms.",
+    "Grab the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the red bottle and put them sequentially into the black dustbin.",
+    "Using arms, grab the medium yellow cylindrical bottle and put it in the rectangular black trash holder, repeat for the bottle for holding liquids and the bottle with curved body shape.",
+    "Grab the medium yellow cylindrical bottle, drop it in the black and white trash holder, do the same for the blue-accented cylindrical bottle and the smooth plastic bottle.",
+    "Begin with the bottle with small ridged green cap, move it to the trash bin, then continue with the bottle for holding liquids and the rounded bottle with a white neck.",
+    "Use the arms to transfer the yellow bottle, the clear bottle with blue sections, and the hand-sized drinking bottle into the plastic dustbin one by one.",
+    "Grab the bottle with small ridged green cap, place it in the rectangular black trash holder, then grab the bottle for holding liquids and the plastic bottle with red cap for the rectangular black trash holder.",
+    "Using arms, grab the green-striped cap on yellow bottle and the bottle with turquoise cap, then place them into the plastic dustbin along with the smooth plastic bottle.",
+    "Transfer the bottle with small ridged green cap, the cylindrical bottle, and the red-labeled soda bottle to the smooth black dustbin located to the table's left.",
+    "Pick the green-striped cap on yellow bottle, the medium-sized water bottle, and the black and red bottle one at a time and put them into the dustbin with lid and bag.",
+    "Using arms, pick up the yellow liquid container with green top, the bottle with ribbed design, and the black bottle with red label, dropping each into the dustbin with lid and bag.",
+    "Grab the medium yellow cylindrical bottle and the smooth transparent plastic bottle, put them into the rectangular black trash holder, and repeat for the rounded bottle with a white neck.",
+    "Grab the medium plastic bottle with tapered neck, the cylindrical bottle, the bottle with curved body shape, and drop them into the black dustbin to the left of the table.",
+    "Use arms to move the bottle with small ridged green cap, the medium-sized water bottle, and the black soda bottle with white top into the dustbin with lid and bag.",
+    "Take the bottle made of smooth plastic, the cylindrical bottle, and the drink bottle with slim neck and place them into the medium-sized black plastic dustbin on the left.",
+    "Use the arms to move the bottle made of smooth plastic into the dustbin with white inner bag, then repeat for the cylindrical bottle and the bottle with curved body shape.",
+    "Transfer the bottle with green cap, the clear bottle with blue sections, and the red and black beverage bottle into the trash bin using your arms, one by one.",
+    "Pick the medium plastic bottle with tapered neck and move it into the medium-sized black plastic dustbin, repeat for the hand-sized bottle and the plastic bottle with red cap.",
+    "Pick the bottle made of smooth plastic, drop it into the dustbin with white inner bag, then move the blue-accented cylindrical bottle and the rounded bottle with a white neck into the dustbin with white inner bag.",
+    "With arms, place the smooth yellow bottle with ridged cap, the bottle with ribbed design, and the smooth plastic bottle into the smooth black dustbin step by step.",
+    "Carry the yellow bottle with smooth texture first, drop it into the rectangular black trash holder, repeat with the smooth transparent plastic bottle and the hand-sized drinking bottle.",
+    "Use arms to grab the smooth yellow bottle with ridged cap, the transparent bottle, the red and black beverage bottle, and set them into the smooth black dustbin to the left.",
+    "Place the yellow bottle, the smooth transparent plastic bottle, and the red bottle into the medium black garbage container one after another.",
+    "Move the yellow bottle with smooth texture into the smooth black dustbin, then do the same for the bottle for holding liquids and the black and red bottle.",
+    "Use arms to pick the bottle with small ridged green cap, the hand-sized bottle, the black and red bottle, and place them one by one in the smooth black dustbin.",
+    "Drop the yellow bottle with smooth texture, the clear bottle with blue sections, and the red and black beverage bottle into the trash bin, handling them one at a time.",
+    "Grab the bottle made of smooth plastic, put it in the black and white trash holder, follow by moving the clear bottle with blue sections and the hand-sized drinking bottle there too.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and place it in the dustbin with lid and bag, do the same for the transparent bottle and the red bottle.",
+    "Take the bottle with green cap, drop it in the black garbage bin, then move the bottle with narrow neck and the hand-sized drinking bottle to the black garbage bin.",
+    "Grab the medium plastic bottle with tapered neck, the bottle with narrow neck, and the smooth plastic bottle sequentially, placing each into the medium-sized black plastic dustbin.",
+    "Use arms to pick the yellow bottle with smooth texture, the water bottle with textured body, and the black and red bottle, dropping them into the black and white trash holder.",
+    "Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the black soda bottle with white top into the rectangular black trash holder after taking them individually.",
+    "Move the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the red-labeled soda bottle into the plastic dustbin one by one.",
+    "Take the yellow bottle with arms, put it in the smooth black dustbin, repeat the same for the cylindrical bottle and the drink bottle with slim neck.",
+    "Transfer the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the rounded bottle with a white neck into the black and white trash holder step by step.",
+    "Place the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the red bottle, one at a time, into the rectangular black trash holder.",
+    "Take the bottle made of smooth plastic, the smooth transparent plastic bottle, and the black soda bottle with white top one at a time and place them into the black bin with white liner.",
+    "Pick up the smooth yellow bottle with ridged cap, the cylindrical bottle, and the red bottle, moving them one by one into the black bin with white liner.",
+    "Use arms to pick the green-striped cap on yellow bottle, drop it in the medium-sized black plastic dustbin, repeat for the bottle with turquoise cap and the red and black beverage bottle.",
+    "Carefully grab the smooth yellow bottle with ridged cap, the medium-sized water bottle, and the black soda bottle with white top and position them in the black and white trash holder.",
+    "Start with the bottle made of smooth plastic, grab it and drop it into the black dustbin, repeat for the water bottle with textured body and the smooth plastic bottle.",
+    "Place the yellow bottle body with tapered neck, the transparent bottle, and the black soda bottle with white top in the rectangular black trash holder using the arms.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the red-labeled soda bottle and place them in the plastic dustbin.",
+    "Use arms to move the yellow liquid container with green top, the transparent bottle, and the red-labeled soda bottle to the medium-sized black plastic dustbin on the table's left.",
+    "Use the arms to transfer the medium yellow cylindrical bottle, the hand-sized bottle, and the plastic bottle with red cap into the plastic dustbin step by step.",
+    "Lift the bottle made of smooth plastic, the bottle with turquoise cap, and the black soda bottle with white top, dropping each into the medium-sized black plastic dustbin sequentially.",
+    "Move the yellow bottle to the plastic dustbin, then the bottle with ribbed design, and finally the rounded bottle with a white neck.",
+    "Grab each of the medium plastic bottle with tapered neck, the cylindrical bottle, and the red-labeled soda bottle and drop them into the medium black garbage container.",
+    "Pick the yellow bottle, the medium-sized water bottle, and the rounded bottle with a white neck from the table and place them inside the smooth black dustbin.",
+    "Put the bottle made of smooth plastic into the trash bin, followed by the transparent bottle and the red bottle.",
+    "Move the bottle with small ridged green cap, the bottle with turquoise cap, and the black soda bottle with white top to the black dustbin sequentially using the arms.",
+    "Grab the yellow bottle with smooth texture, the clear bottle with blue sections, and the rounded bottle with a white neck and put them sequentially into the black dustbin.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the black dustbin, repeat for the medium-sized water bottle and the rounded bottle with a white neck.",
+    "Grab the green-striped cap on yellow bottle, drop it in the dustbin with white inner bag, do the same for the cylindrical bottle and the bottle with curved body shape.",
+    "Begin with the smooth yellow bottle with ridged cap, move it to the rectangular black trash holder, then continue with the water bottle with textured body and the plastic bottle with red cap.",
+    "Use the arms to transfer the bottle with small ridged green cap, the clear bottle with blue sections, and the black bottle with red label into the medium-sized black plastic dustbin one by one.",
+    "Grab the bottle made of smooth plastic, place it in the black dustbin, then grab the bottle with narrow neck and the black bottle with red label for the black dustbin.",
+    "Using arms, grab the green-striped cap on yellow bottle and the blue-accented cylindrical bottle, then place them into the plastic dustbin along with the red bottle.",
+    "Transfer the green-striped cap on yellow bottle, the smooth transparent plastic bottle, and the black bottle with red label to the trash bin located to the table's left.",
+    "Pick the yellow bottle body with tapered neck, the clear bottle with blue sections, and the black soda bottle with white top one at a time and put them into the dustbin with white inner bag.",
+    "Using arms, pick up the yellow bottle, the smooth transparent plastic bottle, and the black and red bottle, dropping each into the dustbin with lid and bag.",
+    "Grab the medium plastic bottle with tapered neck and the bottle with ribbed design, put them into the dustbin with white inner bag, and repeat for the bottle with curved body shape.",
+    "Grab the bottle with small ridged green cap, the bottle with turquoise cap, the black and red bottle, and drop them into the trash bin to the left of the table.",
+    "Use arms to move the yellow liquid container with green top, the medium-sized water bottle, and the red and black beverage bottle into the black garbage bin.",
+    "Take the yellow bottle, the hand-sized bottle, and the black soda bottle with white top and place them into the black dustbin on the left.",
+    "Use the arms to move the green-striped cap on yellow bottle into the plastic dustbin, then repeat for the transparent bottle and the red-labeled soda bottle.",
+    "Transfer the bottle made of smooth plastic, the hand-sized bottle, and the hand-sized drinking bottle into the medium black garbage container using your arms, one by one.",
+    "Pick the bottle with green cap and move it into the black bin with white liner, repeat for the hand-sized bottle and the plastic bottle with red cap.",
+    "Pick the yellow bottle body with tapered neck, drop it into the black dustbin, then move the water bottle with textured body and the drink bottle with slim neck into the black dustbin.",
+    "With arms, place the yellow bottle, the hand-sized bottle, and the black bottle with red label into the dustbin with lid and bag step by step.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the black garbage bin, repeat with the transparent bottle and the bottle with curved body shape.",
+    "Use arms to grab the yellow bottle with smooth texture, the bottle with turquoise cap, the plastic bottle with red cap, and set them into the medium-sized black plastic dustbin to the left.",
+    "Place the bottle with green cap, the smooth transparent plastic bottle, and the bottle with curved body shape into the medium black garbage container one after another.",
+    "Move the green-striped cap on yellow bottle into the trash bin, then do the same for the clear bottle with blue sections and the bottle with curved body shape.",
+    "Use arms to pick the bottle made of smooth plastic, the smooth transparent plastic bottle, the drink bottle with slim neck, and place them one by one in the medium black garbage container.",
+    "Drop the yellow liquid container with green top, the water bottle with textured body, and the plastic bottle with red cap into the medium black garbage container, handling them one at a time.",
+    "Grab the smooth yellow bottle with ridged cap, put it in the rectangular black trash holder, follow by moving the water bottle with textured body and the black bottle with red label there too.",
+    "Using arms, grab the yellow bottle and place it in the trash bin, do the same for the hand-sized bottle and the bottle with curved body shape.",
+    "Take the yellow liquid container with green top, drop it in the dustbin with white inner bag, then move the bottle for holding liquids and the red and black beverage bottle to the dustbin with white inner bag.",
+    "Grab the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the smooth plastic bottle sequentially, placing each into the plastic dustbin.",
+    "Use arms to pick the bottle made of smooth plastic, the bottle with ribbed design, and the black soda bottle with white top, dropping them into the dustbin with white inner bag.",
+    "Place the yellow bottle, the transparent bottle, and the smooth plastic bottle into the medium black garbage container after taking them individually.",
+    "Move the green-striped cap on yellow bottle, the smooth transparent plastic bottle, and the red and black beverage bottle into the medium black garbage container one by one.",
+    "Take the bottle made of smooth plastic with arms, put it in the trash bin, repeat the same for the hand-sized bottle and the hand-sized drinking bottle.",
+    "Transfer the medium yellow cylindrical bottle, the bottle with turquoise cap, and the plastic bottle with red cap into the black garbage bin step by step.",
+    "Place the yellow bottle with smooth texture, the bottle with ribbed design, and the red bottle, one at a time, into the plastic dustbin.",
+    "Take the bottle with small ridged green cap, the bottle for holding liquids, and the red and black beverage bottle one at a time and place them into the medium black garbage container.",
+    "Pick up the green-striped cap on yellow bottle, the transparent bottle, and the black soda bottle with white top, moving them one by one into the black bin with white liner.",
+    "Use arms to pick the yellow liquid container with green top, drop it in the dustbin with lid and bag, repeat for the clear bottle with blue sections and the black soda bottle with white top.",
+    "Carefully grab the bottle made of smooth plastic, the bottle with turquoise cap, and the red bottle and position them in the black and white trash holder.",
+    "Start with the bottle with small ridged green cap, grab it and drop it into the dustbin with lid and bag, repeat for the blue-accented cylindrical bottle and the red bottle.",
+    "Place the green-striped cap on yellow bottle, the clear bottle with blue sections, and the black soda bottle with white top in the black bin with white liner using the arms.",
+    "Use arms to pick the medium plastic bottle with tapered neck, the transparent bottle, and the smooth plastic bottle and place them in the medium black garbage container.",
+    "Use arms to move the yellow bottle, the smooth transparent plastic bottle, and the bottle with curved body shape to the black bin with white liner on the table's left.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the black soda bottle with white top into the black dustbin step by step.",
+    "Lift the yellow liquid container with green top, the medium-sized water bottle, and the smooth plastic bottle, dropping each into the medium black garbage container sequentially."
+  ],
+  "unseen": [
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode6.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fb37750daa19a0e97a540198aaf47cf8d1f3ab6
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bottle made of smooth plastic, the clear bottle with blue sections, and the red bottle from the table and place them inside the black bin with white liner.",
+    "Move the cylindrical yellow bottle for holding liquids, the medium-sized water bottle, and the red bottle into the plastic dustbin one by one.",
+    "Using arms, pick up the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the smooth plastic bottle, dropping each into the black bin with white liner.",
+    "Use the arms to transfer the green-striped cap on yellow bottle, the bottle with ribbed design, and the red-labeled soda bottle into the black garbage bin one by one.",
+    "Place the yellow liquid container with green top, the bottle with ribbed design, and the red bottle into the dustbin with white inner bag after taking them individually.",
+    "Use arms to pick the yellow liquid container with green top, drop it in the medium black garbage container, repeat for the bottle with ribbed design and the red and black beverage bottle.",
+    "Begin with the bottle with green cap, move it to the medium-sized black plastic dustbin, then continue with the bottle with ribbed design and the red bottle.",
+    "Use arms to pick the yellow liquid container with green top, the blue-accented cylindrical bottle, the black and red bottle, and place them one by one in the black garbage bin.",
+    "Pick the yellow bottle and move it into the smooth black dustbin, repeat for the bottle with ribbed design and the black and red bottle.",
+    "Transfer the yellow bottle body with tapered neck, the medium-sized water bottle, and the red bottle into the black garbage bin step by step.",
+    "Put the yellow liquid container with green top into the black and white trash holder, followed by the bottle with ribbed design and the plastic bottle with red cap.",
+    "Lift the bottle with green cap, the medium-sized water bottle, and the red bottle, dropping each into the plastic dustbin sequentially.",
+    "Place the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the drink bottle with slim neck in the black dustbin using the arms.",
+    "Use arms to pick the bottle with green cap, the transparent bottle, and the black and red bottle and place them in the dustbin with lid and bag.",
+    "Grab each of the yellow liquid container with green top, the water bottle with textured body, and the black and red bottle and drop them into the black dustbin.",
+    "Carry the yellow liquid container with green top first, drop it into the medium-sized black plastic dustbin, repeat with the bottle for holding liquids and the rounded bottle with a white neck.",
+    "Take the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the bottle with curved body shape and place them into the black dustbin on the left.",
+    "Grab the yellow bottle with smooth texture, the water bottle with textured body, the red bottle, and drop them into the smooth black dustbin to the left of the table.",
+    "Use arms to move the bottle made of smooth plastic, the transparent bottle, and the black bottle with red label to the medium black garbage container on the table's left.",
+    "Start with the green-striped cap on yellow bottle, grab it and drop it into the medium-sized black plastic dustbin, repeat for the cylindrical bottle and the hand-sized drinking bottle.",
+    "Using arms, grab the yellow liquid container with green top and put it in the black bin with white liner, repeat for the bottle for holding liquids and the plastic bottle with red cap.",
+    "Grab the medium yellow cylindrical bottle, put it in the trash bin, follow by moving the hand-sized bottle and the red-labeled soda bottle there too.",
+    "Grab the bottle with small ridged green cap, the hand-sized bottle, and the black and red bottle sequentially, placing each into the plastic dustbin.",
+    "Pick up the bottle with green cap, the bottle for holding liquids, and the smooth plastic bottle, moving them one by one into the dustbin with white inner bag.",
+    "Carefully grab the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the red and black beverage bottle and position them in the dustbin with white inner bag.",
+    "Transfer the bottle with small ridged green cap, the water bottle with textured body, and the black soda bottle with white top to the black and white trash holder located to the table's left.",
+    "Drop the yellow bottle, the bottle for holding liquids, and the red-labeled soda bottle into the smooth black dustbin, handling them one at a time.",
+    "Grab the bottle with green cap and the bottle with ribbed design, put them into the plastic dustbin, and repeat for the plastic bottle with red cap.",
+    "Use arms to pick the yellow liquid container with green top, the water bottle with textured body, and the drink bottle with slim neck, dropping them into the dustbin with lid and bag.",
+    "Use the arms to transfer the bottle with green cap, the clear bottle with blue sections, and the black soda bottle with white top into the dustbin with lid and bag step by step.",
+    "Take the cylindrical yellow bottle for holding liquids, drop it in the medium-sized black plastic dustbin, then move the bottle with turquoise cap and the red-labeled soda bottle to the medium-sized black plastic dustbin.",
+    "Pick the medium yellow cylindrical bottle, drop it into the medium black garbage container, then move the transparent bottle and the hand-sized drinking bottle into the medium black garbage container.",
+    "With arms, place the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the red and black beverage bottle into the rectangular black trash holder step by step.",
+    "Transfer the yellow liquid container with green top, the hand-sized bottle, and the drink bottle with slim neck into the black and white trash holder using your arms, one by one.",
+    "Take the medium plastic bottle with tapered neck with arms, put it in the black bin with white liner, repeat the same for the water bottle with textured body and the drink bottle with slim neck.",
+    "Move the medium yellow cylindrical bottle into the medium black garbage container, then do the same for the transparent bottle and the red-labeled soda bottle.",
+    "Place the smooth yellow bottle with ridged cap, the hand-sized bottle, and the drink bottle with slim neck, one at a time, into the trash bin.",
+    "Move the bottle with small ridged green cap, the cylindrical bottle, and the smooth plastic bottle to the black and white trash holder sequentially using the arms.",
+    "Use arms to grab the smooth yellow bottle with ridged cap, the water bottle with textured body, the red-labeled soda bottle, and set them into the black garbage bin to the left.",
+    "Place the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the drink bottle with slim neck into the dustbin with lid and bag one after another.",
+    "Grab the bottle with green cap, place it in the medium black garbage container, then grab the bottle with narrow neck and the red bottle for the medium black garbage container.",
+    "Take the smooth yellow bottle with ridged cap, the cylindrical bottle, and the drink bottle with slim neck one at a time and place them into the black and white trash holder.",
+    "Using arms, grab the bottle with green cap and place it in the black dustbin, do the same for the clear bottle with blue sections and the red bottle.",
+    "Grab the smooth yellow bottle with ridged cap, drop it in the trash bin, do the same for the bottle with turquoise cap and the drink bottle with slim neck.",
+    "Use the arms to move the medium yellow cylindrical bottle into the medium-sized black plastic dustbin, then repeat for the water bottle with textured body and the bottle with curved body shape.",
+    "Pick the bottle with green cap, the clear bottle with blue sections, and the red-labeled soda bottle one at a time and put them into the trash bin.",
+    "Use arms to move the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the red and black beverage bottle into the black garbage bin.",
+    "Move the medium plastic bottle with tapered neck to the medium-sized black plastic dustbin, then the transparent bottle, and finally the drink bottle with slim neck.",
+    "Using arms, grab the bottle with small ridged green cap and the hand-sized bottle, then place them into the plastic dustbin along with the red-labeled soda bottle.",
+    "Grab the medium yellow cylindrical bottle, the water bottle with textured body, and the drink bottle with slim neck and put them sequentially into the black dustbin.",
+    "Pick the yellow bottle, the bottle with turquoise cap, and the smooth plastic bottle from the table and place them inside the trash bin.",
+    "Move the yellow liquid container with green top, the cylindrical bottle, and the drink bottle with slim neck into the dustbin with white inner bag one by one.",
+    "Using arms, pick up the medium yellow cylindrical bottle, the blue-accented cylindrical bottle, and the black bottle with red label, dropping each into the dustbin with lid and bag.",
+    "Use the arms to transfer the green-striped cap on yellow bottle, the bottle with turquoise cap, and the red bottle into the black garbage bin one by one.",
+    "Place the bottle with small ridged green cap, the bottle for holding liquids, and the red-labeled soda bottle into the medium black garbage container after taking them individually.",
+    "Use arms to pick the medium yellow cylindrical bottle, drop it in the black and white trash holder, repeat for the medium-sized water bottle and the black bottle with red label.",
+    "Begin with the cylindrical yellow bottle for holding liquids, move it to the black bin with white liner, then continue with the transparent bottle and the plastic bottle with red cap.",
+    "Use arms to pick the green-striped cap on yellow bottle, the smooth transparent plastic bottle, the smooth plastic bottle, and place them one by one in the trash bin.",
+    "Pick the green-striped cap on yellow bottle and move it into the plastic dustbin, repeat for the clear bottle with blue sections and the drink bottle with slim neck.",
+    "Transfer the medium yellow cylindrical bottle, the clear bottle with blue sections, and the red bottle into the dustbin with lid and bag step by step.",
+    "Put the cylindrical yellow bottle for holding liquids into the medium black garbage container, followed by the cylindrical bottle and the rounded bottle with a white neck.",
+    "Lift the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the smooth plastic bottle, dropping each into the black bin with white liner sequentially.",
+    "Place the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the smooth plastic bottle in the medium-sized black plastic dustbin using the arms.",
+    "Use arms to pick the yellow bottle with smooth texture, the bottle with narrow neck, and the smooth plastic bottle and place them in the black bin with white liner.",
+    "Grab each of the bottle with small ridged green cap, the hand-sized bottle, and the black and red bottle and drop them into the trash bin.",
+    "Carry the medium yellow cylindrical bottle first, drop it into the smooth black dustbin, repeat with the bottle with ribbed design and the red bottle.",
+    "Take the bottle with green cap, the cylindrical bottle, and the drink bottle with slim neck and place them into the dustbin with white inner bag on the left.",
+    "Grab the cylindrical yellow bottle for holding liquids, the water bottle with textured body, the hand-sized drinking bottle, and drop them into the black dustbin to the left of the table.",
+    "Use arms to move the bottle with small ridged green cap, the bottle for holding liquids, and the drink bottle with slim neck to the medium black garbage container on the table's left.",
+    "Start with the yellow liquid container with green top, grab it and drop it into the smooth black dustbin, repeat for the bottle with narrow neck and the red-labeled soda bottle.",
+    "Using arms, grab the yellow bottle body with tapered neck and put it in the medium-sized black plastic dustbin, repeat for the hand-sized bottle and the red and black beverage bottle.",
+    "Grab the smooth yellow bottle with ridged cap, put it in the trash bin, follow by moving the water bottle with textured body and the black and red bottle there too.",
+    "Grab the bottle with small ridged green cap, the bottle for holding liquids, and the red bottle sequentially, placing each into the black garbage bin.",
+    "Pick up the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the red-labeled soda bottle, moving them one by one into the medium-sized black plastic dustbin.",
+    "Carefully grab the green-striped cap on yellow bottle, the bottle for holding liquids, and the hand-sized drinking bottle and position them in the plastic dustbin.",
+    "Transfer the green-striped cap on yellow bottle, the blue-accented cylindrical bottle, and the hand-sized drinking bottle to the dustbin with white inner bag located to the table's left.",
+    "Drop the yellow liquid container with green top, the bottle with narrow neck, and the black soda bottle with white top into the smooth black dustbin, handling them one at a time.",
+    "Grab the yellow bottle with smooth texture and the bottle for holding liquids, put them into the rectangular black trash holder, and repeat for the smooth plastic bottle.",
+    "Use arms to pick the yellow bottle body with tapered neck, the water bottle with textured body, and the black bottle with red label, dropping them into the dustbin with lid and bag.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the bottle with turquoise cap, and the black and red bottle into the black garbage bin step by step.",
+    "Take the green-striped cap on yellow bottle, drop it in the medium-sized black plastic dustbin, then move the water bottle with textured body and the smooth plastic bottle to the medium-sized black plastic dustbin.",
+    "Pick the smooth yellow bottle with ridged cap, drop it into the black and white trash holder, then move the cylindrical bottle and the hand-sized drinking bottle into the black and white trash holder.",
+    "With arms, place the bottle with small ridged green cap, the water bottle with textured body, and the red-labeled soda bottle into the dustbin with white inner bag step by step.",
+    "Transfer the yellow bottle body with tapered neck, the bottle with turquoise cap, and the drink bottle with slim neck into the smooth black dustbin using your arms, one by one.",
+    "Take the green-striped cap on yellow bottle with arms, put it in the dustbin with white inner bag, repeat the same for the hand-sized bottle and the drink bottle with slim neck.",
+    "Move the yellow liquid container with green top into the black bin with white liner, then do the same for the medium-sized water bottle and the black soda bottle with white top.",
+    "Place the medium plastic bottle with tapered neck, the transparent bottle, and the red bottle, one at a time, into the black garbage bin.",
+    "Move the bottle with green cap, the medium-sized water bottle, and the red and black beverage bottle to the black garbage bin sequentially using the arms.",
+    "Use arms to grab the green-striped cap on yellow bottle, the transparent bottle, the bottle with curved body shape, and set them into the black and white trash holder to the left.",
+    "Place the yellow bottle, the bottle with ribbed design, and the black soda bottle with white top into the black bin with white liner one after another.",
+    "Grab the smooth yellow bottle with ridged cap, place it in the black garbage bin, then grab the bottle with narrow neck and the drink bottle with slim neck for the black garbage bin.",
+    "Take the medium plastic bottle with tapered neck, the transparent bottle, and the bottle with curved body shape one at a time and place them into the black bin with white liner.",
+    "Using arms, grab the medium plastic bottle with tapered neck and place it in the black dustbin, do the same for the bottle with narrow neck and the black soda bottle with white top.",
+    "Grab the smooth yellow bottle with ridged cap, drop it in the black garbage bin, do the same for the bottle for holding liquids and the black and red bottle.",
+    "Use the arms to move the green-striped cap on yellow bottle into the black bin with white liner, then repeat for the transparent bottle and the hand-sized drinking bottle.",
+    "Pick the yellow bottle body with tapered neck, the smooth transparent plastic bottle, and the red bottle one at a time and put them into the trash bin.",
+    "Use arms to move the yellow bottle with smooth texture, the bottle with turquoise cap, and the bottle with curved body shape into the black garbage bin.",
+    "Move the cylindrical yellow bottle for holding liquids to the black and white trash holder, then the smooth transparent plastic bottle, and finally the red-labeled soda bottle.",
+    "Using arms, grab the smooth yellow bottle with ridged cap and the cylindrical bottle, then place them into the dustbin with white inner bag along with the black bottle with red label.",
+    "Grab the yellow liquid container with green top, the transparent bottle, and the smooth plastic bottle and put them sequentially into the dustbin with white inner bag."
+  ],
+  "unseen": [
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the bottle with red screw cap."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode7.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8bdd8e91d2cc078c6fbdf078bfe73de0bf8699
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab each of the yellow bottle, the bottle with turquoise cap, and the rounded bottle with a white neck and drop them into the black bin with white liner.",
+    "Place the medium yellow cylindrical bottle, the hand-sized bottle, and the red and black beverage bottle into the rectangular black trash holder one after another.",
+    "Use the arms to move the yellow liquid container with green top into the black garbage bin, then repeat for the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Transfer the bottle with small ridged green cap, the bottle with narrow neck, and the red-labeled soda bottle to the trash bin located to the table's left.",
+    "Using arms, grab the yellow bottle with smooth texture and the blue-accented cylindrical bottle, then place them into the black garbage bin along with the red bottle.",
+    "Grab the smooth yellow bottle with ridged cap, put it in the black garbage bin, follow by moving the water bottle with textured body and the red and black beverage bottle there too.",
+    "Begin with the medium plastic bottle with tapered neck, move it to the black and white trash holder, then continue with the bottle with ribbed design and the black soda bottle with white top.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the medium-sized water bottle, and the bottle with curved body shape into the black bin with white liner one by one.",
+    "Use arms to pick the bottle with green cap, the cylindrical bottle, and the red and black beverage bottle, dropping them into the black dustbin.",
+    "Transfer the yellow bottle body with tapered neck, the bottle with ribbed design, and the black soda bottle with white top into the dustbin with white inner bag step by step.",
+    "Carry the bottle made of smooth plastic first, drop it into the rectangular black trash holder, repeat with the water bottle with textured body and the red-labeled soda bottle.",
+    "Using arms, grab the green-striped cap on yellow bottle and place it in the rectangular black trash holder, do the same for the clear bottle with blue sections and the plastic bottle with red cap.",
+    "Pick the medium yellow cylindrical bottle and move it into the black dustbin, repeat for the medium-sized water bottle and the drink bottle with slim neck.",
+    "Place the medium plastic bottle with tapered neck, the cylindrical bottle, and the black soda bottle with white top into the dustbin with lid and bag after taking them individually.",
+    "Take the bottle with small ridged green cap with arms, put it in the dustbin with white inner bag, repeat the same for the clear bottle with blue sections and the hand-sized drinking bottle.",
+    "Lift the bottle made of smooth plastic, the water bottle with textured body, and the red bottle, dropping each into the dustbin with lid and bag sequentially.",
+    "Drop the yellow bottle body with tapered neck, the hand-sized bottle, and the hand-sized drinking bottle into the rectangular black trash holder, handling them one at a time.",
+    "With arms, place the green-striped cap on yellow bottle, the bottle with ribbed design, and the red bottle into the black dustbin step by step.",
+    "Grab the medium plastic bottle with tapered neck, the hand-sized bottle, the smooth plastic bottle, and drop them into the plastic dustbin to the left of the table.",
+    "Transfer the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the red and black beverage bottle into the black dustbin using your arms, one by one.",
+    "Take the bottle with small ridged green cap, the bottle for holding liquids, and the plastic bottle with red cap one at a time and place them into the medium-sized black plastic dustbin.",
+    "Using arms, pick up the bottle with small ridged green cap, the clear bottle with blue sections, and the black soda bottle with white top, dropping each into the plastic dustbin.",
+    "Use arms to pick the medium yellow cylindrical bottle, drop it in the black dustbin, repeat for the blue-accented cylindrical bottle and the red and black beverage bottle.",
+    "Pick up the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the black and red bottle, moving them one by one into the black bin with white liner.",
+    "Move the bottle made of smooth plastic, the medium-sized water bottle, and the black soda bottle with white top to the smooth black dustbin sequentially using the arms.",
+    "Use arms to move the bottle made of smooth plastic, the smooth transparent plastic bottle, and the red and black beverage bottle into the medium black garbage container.",
+    "Move the green-striped cap on yellow bottle into the smooth black dustbin, then do the same for the transparent bottle and the black bottle with red label.",
+    "Grab the yellow bottle with smooth texture, the bottle with ribbed design, and the red and black beverage bottle sequentially, placing each into the black bin with white liner.",
+    "Start with the smooth yellow bottle with ridged cap, grab it and drop it into the dustbin with lid and bag, repeat for the blue-accented cylindrical bottle and the rounded bottle with a white neck.",
+    "Move the medium yellow cylindrical bottle to the trash bin, then the blue-accented cylindrical bottle, and finally the black soda bottle with white top.",
+    "Grab the smooth yellow bottle with ridged cap and the smooth transparent plastic bottle, put them into the black garbage bin, and repeat for the black bottle with red label.",
+    "Use arms to move the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the black soda bottle with white top to the smooth black dustbin on the table's left.",
+    "Use the arms to transfer the bottle with green cap, the cylindrical bottle, and the black soda bottle with white top into the rectangular black trash holder step by step.",
+    "Pick the yellow bottle with smooth texture, the bottle with narrow neck, and the red bottle from the table and place them inside the plastic dustbin.",
+    "Use arms to grab the medium yellow cylindrical bottle, the hand-sized bottle, the black and red bottle, and set them into the plastic dustbin to the left.",
+    "Move the medium yellow cylindrical bottle, the water bottle with textured body, and the black soda bottle with white top into the black garbage bin one by one.",
+    "Put the bottle with green cap into the trash bin, followed by the bottle for holding liquids and the red-labeled soda bottle.",
+    "Grab the cylindrical yellow bottle for holding liquids, drop it in the black garbage bin, do the same for the hand-sized bottle and the rounded bottle with a white neck.",
+    "Take the yellow bottle body with tapered neck, the bottle with narrow neck, and the black and red bottle and place them into the medium black garbage container on the left.",
+    "Grab the smooth yellow bottle with ridged cap, the transparent bottle, and the black soda bottle with white top and put them sequentially into the black bin with white liner.",
+    "Using arms, grab the bottle made of smooth plastic and put it in the dustbin with lid and bag, repeat for the transparent bottle and the red-labeled soda bottle.",
+    "Grab the medium plastic bottle with tapered neck, place it in the dustbin with white inner bag, then grab the bottle with ribbed design and the smooth plastic bottle for the dustbin with white inner bag.",
+    "Pick the bottle made of smooth plastic, drop it into the medium-sized black plastic dustbin, then move the clear bottle with blue sections and the black and red bottle into the medium-sized black plastic dustbin.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, the bottle with curved body shape, and place them one by one in the rectangular black trash holder.",
+    "Place the medium plastic bottle with tapered neck, the bottle for holding liquids, and the black and red bottle in the black bin with white liner using the arms.",
+    "Pick the yellow bottle with smooth texture, the water bottle with textured body, and the plastic bottle with red cap one at a time and put them into the black and white trash holder.",
+    "Place the yellow bottle with smooth texture, the bottle with narrow neck, and the red and black beverage bottle, one at a time, into the medium black garbage container.",
+    "Use arms to pick the yellow liquid container with green top, the bottle with turquoise cap, and the rounded bottle with a white neck and place them in the plastic dustbin.",
+    "Take the bottle made of smooth plastic, drop it in the medium black garbage container, then move the medium-sized water bottle and the rounded bottle with a white neck to the medium black garbage container.",
+    "Carefully grab the medium yellow cylindrical bottle, the medium-sized water bottle, and the hand-sized drinking bottle and position them in the black and white trash holder.",
+    "Grab each of the smooth yellow bottle with ridged cap, the medium-sized water bottle, and the red bottle and drop them into the rectangular black trash holder.",
+    "Place the cylindrical yellow bottle for holding liquids, the bottle with ribbed design, and the plastic bottle with red cap into the black bin with white liner one after another.",
+    "Use the arms to move the cylindrical yellow bottle for holding liquids into the plastic dustbin, then repeat for the bottle for holding liquids and the red bottle.",
+    "Transfer the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the black bottle with red label to the medium-sized black plastic dustbin located to the table's left.",
+    "Using arms, grab the medium yellow cylindrical bottle and the water bottle with textured body, then place them into the black dustbin along with the black soda bottle with white top.",
+    "Grab the medium plastic bottle with tapered neck, put it in the black and white trash holder, follow by moving the bottle with turquoise cap and the red and black beverage bottle there too.",
+    "Begin with the medium yellow cylindrical bottle, move it to the rectangular black trash holder, then continue with the hand-sized bottle and the black soda bottle with white top.",
+    "Use the arms to transfer the bottle with small ridged green cap, the clear bottle with blue sections, and the hand-sized drinking bottle into the black bin with white liner one by one.",
+    "Use arms to pick the yellow bottle with smooth texture, the bottle with ribbed design, and the bottle with curved body shape, dropping them into the black garbage bin.",
+    "Transfer the yellow bottle body with tapered neck, the water bottle with textured body, and the plastic bottle with red cap into the plastic dustbin step by step.",
+    "Carry the yellow liquid container with green top first, drop it into the black dustbin, repeat with the blue-accented cylindrical bottle and the black soda bottle with white top.",
+    "Using arms, grab the medium yellow cylindrical bottle and place it in the plastic dustbin, do the same for the bottle with narrow neck and the bottle with curved body shape.",
+    "Pick the cylindrical yellow bottle for holding liquids and move it into the medium-sized black plastic dustbin, repeat for the bottle for holding liquids and the red bottle.",
+    "Place the yellow bottle body with tapered neck, the transparent bottle, and the bottle with curved body shape into the plastic dustbin after taking them individually.",
+    "Take the medium yellow cylindrical bottle with arms, put it in the black dustbin, repeat the same for the medium-sized water bottle and the smooth plastic bottle.",
+    "Lift the yellow liquid container with green top, the bottle with turquoise cap, and the rounded bottle with a white neck, dropping each into the black garbage bin sequentially.",
+    "Drop the yellow bottle body with tapered neck, the bottle with ribbed design, and the black bottle with red label into the dustbin with white inner bag, handling them one at a time.",
+    "With arms, place the yellow bottle body with tapered neck, the medium-sized water bottle, and the hand-sized drinking bottle into the medium black garbage container step by step.",
+    "Grab the yellow bottle, the transparent bottle, the red and black beverage bottle, and drop them into the plastic dustbin to the left of the table.",
+    "Transfer the yellow bottle, the water bottle with textured body, and the drink bottle with slim neck into the black garbage bin using your arms, one by one.",
+    "Take the cylindrical yellow bottle for holding liquids, the hand-sized bottle, and the black and red bottle one at a time and place them into the smooth black dustbin.",
+    "Using arms, pick up the cylindrical yellow bottle for holding liquids, the clear bottle with blue sections, and the black and red bottle, dropping each into the black dustbin.",
+    "Use arms to pick the yellow bottle, drop it in the medium black garbage container, repeat for the bottle for holding liquids and the bottle with curved body shape.",
+    "Pick up the yellow bottle with smooth texture, the hand-sized bottle, and the smooth plastic bottle, moving them one by one into the dustbin with lid and bag.",
+    "Move the yellow bottle body with tapered neck, the bottle for holding liquids, and the black bottle with red label to the rectangular black trash holder sequentially using the arms.",
+    "Use arms to move the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the plastic bottle with red cap into the dustbin with lid and bag.",
+    "Move the bottle with small ridged green cap into the plastic dustbin, then do the same for the water bottle with textured body and the drink bottle with slim neck.",
+    "Grab the smooth yellow bottle with ridged cap, the smooth transparent plastic bottle, and the red bottle sequentially, placing each into the black bin with white liner.",
+    "Start with the smooth yellow bottle with ridged cap, grab it and drop it into the black and white trash holder, repeat for the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Move the medium plastic bottle with tapered neck to the medium-sized black plastic dustbin, then the transparent bottle, and finally the black soda bottle with white top.",
+    "Grab the bottle with small ridged green cap and the transparent bottle, put them into the black and white trash holder, and repeat for the red bottle.",
+    "Use arms to move the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the black bottle with red label to the dustbin with lid and bag on the table's left.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the medium-sized water bottle, and the red-labeled soda bottle into the trash bin step by step.",
+    "Pick the yellow bottle with smooth texture, the cylindrical bottle, and the red and black beverage bottle from the table and place them inside the black bin with white liner.",
+    "Use arms to grab the bottle with small ridged green cap, the bottle with turquoise cap, the bottle with curved body shape, and set them into the medium-sized black plastic dustbin to the left.",
+    "Move the bottle with small ridged green cap, the clear bottle with blue sections, and the drink bottle with slim neck into the smooth black dustbin one by one.",
+    "Put the medium plastic bottle with tapered neck into the rectangular black trash holder, followed by the smooth transparent plastic bottle and the red-labeled soda bottle.",
+    "Grab the medium plastic bottle with tapered neck, drop it in the trash bin, do the same for the bottle with turquoise cap and the smooth plastic bottle.",
+    "Take the yellow bottle body with tapered neck, the transparent bottle, and the black bottle with red label and place them into the black dustbin on the left.",
+    "Grab the green-striped cap on yellow bottle, the cylindrical bottle, and the black soda bottle with white top and put them sequentially into the black dustbin.",
+    "Using arms, grab the bottle with green cap and put it in the medium-sized black plastic dustbin, repeat for the bottle for holding liquids and the rounded bottle with a white neck.",
+    "Grab the yellow liquid container with green top, place it in the rectangular black trash holder, then grab the bottle with narrow neck and the bottle with curved body shape for the rectangular black trash holder.",
+    "Pick the bottle made of smooth plastic, drop it into the black dustbin, then move the blue-accented cylindrical bottle and the red and black beverage bottle into the black dustbin.",
+    "Use arms to pick the medium yellow cylindrical bottle, the medium-sized water bottle, the red bottle, and place them one by one in the black and white trash holder.",
+    "Place the cylindrical yellow bottle for holding liquids, the smooth transparent plastic bottle, and the black bottle with red label in the dustbin with white inner bag using the arms.",
+    "Pick the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the red-labeled soda bottle one at a time and put them into the black dustbin.",
+    "Place the bottle with small ridged green cap, the water bottle with textured body, and the red and black beverage bottle, one at a time, into the black and white trash holder.",
+    "Use arms to pick the bottle made of smooth plastic, the bottle for holding liquids, and the rounded bottle with a white neck and place them in the medium black garbage container.",
+    "Take the yellow liquid container with green top, drop it in the dustbin with white inner bag, then move the water bottle with textured body and the red and black beverage bottle to the dustbin with white inner bag.",
+    "Carefully grab the yellow bottle with smooth texture, the medium-sized water bottle, and the red-labeled soda bottle and position them in the trash bin."
+  ],
+  "unseen": [
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the bottle with blue highlights and the medium black bottle.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the medium black bottle.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Move the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the plastic bottle and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the smooth surface dustbin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode8.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0305030d524604c219c9a93693a567f1ddb16106
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bottle made of smooth plastic, the bottle for holding liquids, and the red bottle into the black garbage bin after taking them individually.",
+    "Pick up the yellow bottle, the bottle with ribbed design, and the smooth plastic bottle, moving them one by one into the black and white trash holder.",
+    "Carry the medium yellow cylindrical bottle first, drop it into the black and white trash holder, repeat with the water bottle with textured body and the black bottle with red label.",
+    "Grab the green-striped cap on yellow bottle, place it in the dustbin with white inner bag, then grab the medium-sized water bottle and the bottle with curved body shape for the dustbin with white inner bag.",
+    "Pick the yellow bottle body with tapered neck, drop it into the dustbin with lid and bag, then move the water bottle with textured body and the red bottle into the dustbin with lid and bag.",
+    "Use arms to pick the yellow bottle with smooth texture, the medium-sized water bottle, and the rounded bottle with a white neck and place them in the medium black garbage container.",
+    "Drop the yellow bottle with smooth texture, the bottle with ribbed design, and the smooth plastic bottle into the smooth black dustbin, handling them one at a time.",
+    "Use arms to pick the yellow bottle body with tapered neck, the bottle for holding liquids, the plastic bottle with red cap, and place them one by one in the smooth black dustbin.",
+    "Take the bottle with small ridged green cap, drop it in the dustbin with lid and bag, then move the bottle with ribbed design and the smooth plastic bottle to the dustbin with lid and bag.",
+    "Pick the yellow bottle with smooth texture, the medium-sized water bottle, and the red bottle from the table and place them inside the plastic dustbin.",
+    "Grab each of the bottle with green cap, the clear bottle with blue sections, and the smooth plastic bottle and drop them into the black dustbin.",
+    "Take the bottle with small ridged green cap, the bottle with turquoise cap, and the black soda bottle with white top and place them into the smooth black dustbin on the left.",
+    "Take the bottle with small ridged green cap, the bottle with ribbed design, and the red bottle one at a time and place them into the medium black garbage container.",
+    "Pick the smooth yellow bottle with ridged cap, the cylindrical bottle, and the plastic bottle with red cap one at a time and put them into the black and white trash holder.",
+    "Start with the yellow bottle with smooth texture, grab it and drop it into the trash bin, repeat for the bottle with narrow neck and the black and red bottle.",
+    "Grab the yellow bottle and the bottle for holding liquids, put them into the dustbin with white inner bag, and repeat for the bottle with curved body shape.",
+    "Pick the bottle with small ridged green cap and move it into the smooth black dustbin, repeat for the clear bottle with blue sections and the black and red bottle.",
+    "Grab the bottle made of smooth plastic, put it in the medium black garbage container, follow by moving the smooth transparent plastic bottle and the hand-sized drinking bottle there too.",
+    "Use the arms to move the green-striped cap on yellow bottle into the black and white trash holder, then repeat for the cylindrical bottle and the black soda bottle with white top.",
+    "Put the medium yellow cylindrical bottle into the dustbin with lid and bag, followed by the transparent bottle and the hand-sized drinking bottle.",
+    "Use arms to pick the yellow bottle with smooth texture, the water bottle with textured body, and the rounded bottle with a white neck, dropping them into the medium-sized black plastic dustbin.",
+    "Lift the bottle with green cap, the smooth transparent plastic bottle, and the drink bottle with slim neck, dropping each into the dustbin with lid and bag sequentially.",
+    "Use arms to pick the green-striped cap on yellow bottle, drop it in the dustbin with lid and bag, repeat for the cylindrical bottle and the black and red bottle.",
+    "Transfer the bottle made of smooth plastic, the cylindrical bottle, and the bottle with curved body shape to the black and white trash holder located to the table's left.",
+    "Using arms, grab the medium yellow cylindrical bottle and place it in the medium black garbage container, do the same for the blue-accented cylindrical bottle and the black bottle with red label.",
+    "Using arms, grab the green-striped cap on yellow bottle and put it in the black and white trash holder, repeat for the hand-sized bottle and the black bottle with red label.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the transparent bottle, and the rounded bottle with a white neck, dropping each into the medium black garbage container.",
+    "Begin with the yellow liquid container with green top, move it to the medium black garbage container, then continue with the smooth transparent plastic bottle and the bottle with curved body shape.",
+    "With arms, place the bottle with green cap, the water bottle with textured body, and the plastic bottle with red cap into the rectangular black trash holder step by step.",
+    "Move the yellow bottle body with tapered neck, the bottle with turquoise cap, and the black soda bottle with white top into the dustbin with white inner bag one by one.",
+    "Using arms, grab the yellow liquid container with green top and the water bottle with textured body, then place them into the black garbage bin along with the smooth plastic bottle.",
+    "Move the yellow liquid container with green top, the cylindrical bottle, and the black soda bottle with white top to the medium-sized black plastic dustbin sequentially using the arms.",
+    "Take the smooth yellow bottle with ridged cap with arms, put it in the rectangular black trash holder, repeat the same for the cylindrical bottle and the black and red bottle.",
+    "Carefully grab the bottle made of smooth plastic, the bottle with turquoise cap, and the red and black beverage bottle and position them in the black bin with white liner.",
+    "Place the bottle with small ridged green cap, the smooth transparent plastic bottle, and the red and black beverage bottle in the black garbage bin using the arms.",
+    "Use arms to grab the yellow bottle body with tapered neck, the water bottle with textured body, the rounded bottle with a white neck, and set them into the medium-sized black plastic dustbin to the left.",
+    "Use arms to move the yellow bottle body with tapered neck, the hand-sized bottle, and the black soda bottle with white top to the plastic dustbin on the table's left.",
+    "Place the bottle with small ridged green cap, the bottle for holding liquids, and the red and black beverage bottle into the smooth black dustbin one after another.",
+    "Use the arms to transfer the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the red and black beverage bottle into the medium black garbage container step by step.",
+    "Place the bottle with small ridged green cap, the bottle for holding liquids, and the smooth plastic bottle, one at a time, into the dustbin with white inner bag.",
+    "Grab the yellow bottle body with tapered neck, the bottle with ribbed design, and the black bottle with red label sequentially, placing each into the smooth black dustbin.",
+    "Use the arms to transfer the cylindrical yellow bottle for holding liquids, the bottle with narrow neck, and the black soda bottle with white top into the black garbage bin one by one.",
+    "Transfer the yellow liquid container with green top, the bottle with turquoise cap, and the red and black beverage bottle into the medium-sized black plastic dustbin using your arms, one by one.",
+    "Use arms to move the yellow bottle, the smooth transparent plastic bottle, and the red bottle into the rectangular black trash holder.",
+    "Transfer the yellow liquid container with green top, the bottle for holding liquids, and the plastic bottle with red cap into the black dustbin step by step.",
+    "Grab the bottle with small ridged green cap, the medium-sized water bottle, and the red bottle and put them sequentially into the plastic dustbin.",
+    "Grab the medium plastic bottle with tapered neck, drop it in the trash bin, do the same for the hand-sized bottle and the red bottle.",
+    "Move the yellow liquid container with green top to the dustbin with white inner bag, then the smooth transparent plastic bottle, and finally the plastic bottle with red cap.",
+    "Move the medium plastic bottle with tapered neck into the dustbin with lid and bag, then do the same for the bottle with turquoise cap and the smooth plastic bottle.",
+    "Grab the yellow bottle with smooth texture, the bottle with narrow neck, the black and red bottle, and drop them into the black and white trash holder to the left of the table.",
+    "Place the green-striped cap on yellow bottle, the hand-sized bottle, and the black bottle with red label into the black garbage bin after taking them individually.",
+    "Pick up the bottle with green cap, the clear bottle with blue sections, and the black soda bottle with white top, moving them one by one into the black dustbin.",
+    "Carry the yellow bottle body with tapered neck first, drop it into the dustbin with lid and bag, repeat with the bottle with turquoise cap and the black and red bottle.",
+    "Grab the yellow liquid container with green top, place it in the dustbin with white inner bag, then grab the bottle for holding liquids and the plastic bottle with red cap for the dustbin with white inner bag.",
+    "Pick the yellow bottle body with tapered neck, drop it into the plastic dustbin, then move the water bottle with textured body and the black bottle with red label into the plastic dustbin.",
+    "Use arms to pick the bottle made of smooth plastic, the blue-accented cylindrical bottle, and the bottle with curved body shape and place them in the medium black garbage container.",
+    "Drop the yellow bottle with smooth texture, the cylindrical bottle, and the bottle with curved body shape into the medium black garbage container, handling them one at a time.",
+    "Use arms to pick the green-striped cap on yellow bottle, the bottle with narrow neck, the black bottle with red label, and place them one by one in the medium-sized black plastic dustbin.",
+    "Take the medium plastic bottle with tapered neck, drop it in the medium black garbage container, then move the transparent bottle and the red-labeled soda bottle to the medium black garbage container.",
+    "Pick the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the drink bottle with slim neck from the table and place them inside the trash bin.",
+    "Grab each of the bottle with green cap, the clear bottle with blue sections, and the black and red bottle and drop them into the medium black garbage container.",
+    "Take the bottle made of smooth plastic, the water bottle with textured body, and the hand-sized drinking bottle and place them into the black garbage bin on the left.",
+    "Take the yellow bottle, the transparent bottle, and the red bottle one at a time and place them into the smooth black dustbin.",
+    "Pick the smooth yellow bottle with ridged cap, the clear bottle with blue sections, and the plastic bottle with red cap one at a time and put them into the dustbin with white inner bag.",
+    "Start with the bottle with small ridged green cap, grab it and drop it into the black and white trash holder, repeat for the medium-sized water bottle and the black bottle with red label.",
+    "Grab the bottle with small ridged green cap and the smooth transparent plastic bottle, put them into the plastic dustbin, and repeat for the plastic bottle with red cap.",
+    "Pick the medium yellow cylindrical bottle and move it into the medium black garbage container, repeat for the medium-sized water bottle and the bottle with curved body shape.",
+    "Grab the yellow bottle with smooth texture, put it in the dustbin with white inner bag, follow by moving the transparent bottle and the red-labeled soda bottle there too.",
+    "Use the arms to move the bottle made of smooth plastic into the plastic dustbin, then repeat for the transparent bottle and the red and black beverage bottle.",
+    "Put the medium yellow cylindrical bottle into the dustbin with lid and bag, followed by the cylindrical bottle and the red bottle.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, the bottle with ribbed design, and the bottle with curved body shape, dropping them into the black and white trash holder.",
+    "Lift the yellow bottle, the water bottle with textured body, and the black and red bottle, dropping each into the black bin with white liner sequentially.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, drop it in the medium-sized black plastic dustbin, repeat for the clear bottle with blue sections and the rounded bottle with a white neck.",
+    "Transfer the bottle with green cap, the clear bottle with blue sections, and the smooth plastic bottle to the black bin with white liner located to the table's left.",
+    "Using arms, grab the medium yellow cylindrical bottle and place it in the medium-sized black plastic dustbin, do the same for the cylindrical bottle and the red bottle.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the trash bin, repeat for the water bottle with textured body and the plastic bottle with red cap.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the bottle for holding liquids, and the black soda bottle with white top, dropping each into the dustbin with lid and bag.",
+    "Begin with the bottle with green cap, move it to the medium black garbage container, then continue with the bottle with turquoise cap and the red and black beverage bottle.",
+    "With arms, place the yellow bottle body with tapered neck, the transparent bottle, and the hand-sized drinking bottle into the black dustbin step by step.",
+    "Move the bottle made of smooth plastic, the bottle with narrow neck, and the rounded bottle with a white neck into the smooth black dustbin one by one.",
+    "Using arms, grab the bottle with small ridged green cap and the cylindrical bottle, then place them into the black and white trash holder along with the red bottle.",
+    "Move the medium plastic bottle with tapered neck, the transparent bottle, and the bottle with curved body shape to the black bin with white liner sequentially using the arms.",
+    "Take the yellow bottle body with tapered neck with arms, put it in the medium black garbage container, repeat the same for the medium-sized water bottle and the plastic bottle with red cap.",
+    "Carefully grab the bottle with green cap, the blue-accented cylindrical bottle, and the smooth plastic bottle and position them in the medium-sized black plastic dustbin.",
+    "Place the medium plastic bottle with tapered neck, the bottle with narrow neck, and the black bottle with red label in the smooth black dustbin using the arms.",
+    "Use arms to grab the bottle made of smooth plastic, the bottle with turquoise cap, the rounded bottle with a white neck, and set them into the medium black garbage container to the left.",
+    "Use arms to move the yellow bottle, the medium-sized water bottle, and the bottle with curved body shape to the trash bin on the table's left.",
+    "Place the medium yellow cylindrical bottle, the bottle with narrow neck, and the red-labeled soda bottle into the trash bin one after another.",
+    "Use the arms to transfer the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the red and black beverage bottle into the trash bin step by step.",
+    "Place the yellow bottle, the hand-sized bottle, and the rounded bottle with a white neck, one at a time, into the black and white trash holder.",
+    "Grab the bottle with green cap, the bottle with turquoise cap, and the black bottle with red label sequentially, placing each into the black bin with white liner.",
+    "Use the arms to transfer the yellow liquid container with green top, the smooth transparent plastic bottle, and the black and red bottle into the plastic dustbin one by one.",
+    "Transfer the bottle with green cap, the hand-sized bottle, and the black and red bottle into the rectangular black trash holder using your arms, one by one.",
+    "Use arms to move the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the red and black beverage bottle into the trash bin.",
+    "Transfer the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the plastic bottle with red cap into the black garbage bin step by step.",
+    "Grab the green-striped cap on yellow bottle, the clear bottle with blue sections, and the rounded bottle with a white neck and put them sequentially into the black bin with white liner.",
+    "Grab the yellow bottle body with tapered neck, drop it in the black and white trash holder, do the same for the transparent bottle and the smooth plastic bottle.",
+    "Move the medium plastic bottle with tapered neck to the medium black garbage container, then the bottle with narrow neck, and finally the bottle with curved body shape.",
+    "Move the bottle with small ridged green cap into the dustbin with lid and bag, then do the same for the bottle with turquoise cap and the plastic bottle with red cap.",
+    "Grab the yellow liquid container with green top, the smooth transparent plastic bottle, the red bottle, and drop them into the black and white trash holder to the left of the table."
+  ],
+  "unseen": [
+    "Pick up the plastic bottle with two distinct parts and drop it into the simple black garbage bin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the simple black garbage bin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the curved rectangular trash can.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Move the yellow plastic bottle, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the smooth surface dustbin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the medium black bottle, placing each into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the simple black garbage bin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the bottle with red screw cap one by one and place them in the smooth surface dustbin.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the medium black bottle.",
+    "Grab the plastic bottle with two distinct parts and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow plastic bottle and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the bottle with blue highlights, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the medium black bottle."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode9.json b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..03d50ce78954283988e90e505b0ddf538b1e0ed2
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the medium plastic bottle with tapered neck, the bottle for holding liquids, and the bottle with curved body shape into the dustbin with white inner bag one after another.",
+    "Place the yellow bottle with smooth texture, the smooth transparent plastic bottle, and the drink bottle with slim neck into the dustbin with white inner bag after taking them individually.",
+    "Using arms, grab the yellow liquid container with green top and place it in the smooth black dustbin, do the same for the blue-accented cylindrical bottle and the smooth plastic bottle.",
+    "Grab the cylindrical yellow bottle for holding liquids and the smooth transparent plastic bottle, put them into the black dustbin, and repeat for the red and black beverage bottle.",
+    "Use arms to pick the yellow bottle body with tapered neck, drop it in the dustbin with white inner bag, repeat for the bottle with ribbed design and the black bottle with red label.",
+    "Grab the yellow bottle body with tapered neck, place it in the medium black garbage container, then grab the medium-sized water bottle and the drink bottle with slim neck for the medium black garbage container.",
+    "Use arms to move the bottle with small ridged green cap, the bottle with narrow neck, and the smooth plastic bottle to the trash bin on the table's left.",
+    "Start with the bottle with small ridged green cap, grab it and drop it into the black garbage bin, repeat for the bottle with turquoise cap and the black and red bottle.",
+    "Pick the medium plastic bottle with tapered neck and move it into the black bin with white liner, repeat for the medium-sized water bottle and the rounded bottle with a white neck.",
+    "Transfer the bottle made of smooth plastic, the cylindrical bottle, and the red-labeled soda bottle to the black dustbin located to the table's left.",
+    "Move the bottle with small ridged green cap, the cylindrical bottle, and the red-labeled soda bottle to the medium black garbage container sequentially using the arms.",
+    "Using arms, grab the medium plastic bottle with tapered neck and the bottle with turquoise cap, then place them into the black garbage bin along with the black bottle with red label.",
+    "Take the yellow bottle body with tapered neck, drop it in the smooth black dustbin, then move the medium-sized water bottle and the plastic bottle with red cap to the smooth black dustbin.",
+    "Place the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the hand-sized drinking bottle, one at a time, into the rectangular black trash holder.",
+    "Grab the bottle with green cap, the bottle with turquoise cap, and the red bottle sequentially, placing each into the medium-sized black plastic dustbin.",
+    "Use arms to pick the yellow bottle with smooth texture, the hand-sized bottle, and the black soda bottle with white top and place them in the black bin with white liner.",
+    "Move the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the smooth plastic bottle into the medium-sized black plastic dustbin one by one.",
+    "Move the green-striped cap on yellow bottle to the dustbin with lid and bag, then the bottle for holding liquids, and finally the hand-sized drinking bottle.",
+    "Move the yellow bottle with smooth texture into the black bin with white liner, then do the same for the smooth transparent plastic bottle and the smooth plastic bottle.",
+    "Place the bottle with green cap, the blue-accented cylindrical bottle, and the red-labeled soda bottle in the medium black garbage container using the arms.",
+    "Use arms to grab the bottle with green cap, the bottle with turquoise cap, the red bottle, and set them into the medium-sized black plastic dustbin to the left.",
+    "Carefully grab the yellow bottle with smooth texture, the bottle with narrow neck, and the red-labeled soda bottle and position them in the black and white trash holder.",
+    "Grab the medium plastic bottle with tapered neck, put it in the trash bin, follow by moving the transparent bottle and the bottle with curved body shape there too.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, the bottle with turquoise cap, and the plastic bottle with red cap, dropping them into the trash bin.",
+    "Using arms, pick up the green-striped cap on yellow bottle, the bottle with turquoise cap, and the red bottle, dropping each into the black garbage bin.",
+    "Pick the bottle with green cap, drop it into the dustbin with white inner bag, then move the bottle with ribbed design and the plastic bottle with red cap into the dustbin with white inner bag.",
+    "With arms, place the smooth yellow bottle with ridged cap, the water bottle with textured body, and the bottle with curved body shape into the black dustbin step by step.",
+    "Transfer the bottle with small ridged green cap, the blue-accented cylindrical bottle, and the black soda bottle with white top into the black and white trash holder using your arms, one by one.",
+    "Use arms to move the medium plastic bottle with tapered neck, the medium-sized water bottle, and the red and black beverage bottle into the black and white trash holder.",
+    "Using arms, grab the bottle with small ridged green cap and put it in the medium-sized black plastic dustbin, repeat for the hand-sized bottle and the drink bottle with slim neck.",
+    "Take the bottle with green cap with arms, put it in the black and white trash holder, repeat the same for the transparent bottle and the drink bottle with slim neck.",
+    "Use the arms to move the cylindrical yellow bottle for holding liquids into the black bin with white liner, then repeat for the clear bottle with blue sections and the black soda bottle with white top.",
+    "Use arms to pick the smooth yellow bottle with ridged cap, the water bottle with textured body, the drink bottle with slim neck, and place them one by one in the black bin with white liner.",
+    "Take the green-striped cap on yellow bottle, the hand-sized bottle, and the bottle with curved body shape one at a time and place them into the black and white trash holder.",
+    "Drop the yellow liquid container with green top, the cylindrical bottle, and the bottle with curved body shape into the black dustbin, handling them one at a time.",
+    "Grab the yellow bottle body with tapered neck, drop it in the medium black garbage container, do the same for the bottle for holding liquids and the smooth plastic bottle.",
+    "Grab the bottle with green cap, the hand-sized bottle, the red bottle, and drop them into the black garbage bin to the left of the table.",
+    "Transfer the green-striped cap on yellow bottle, the cylindrical bottle, and the bottle with curved body shape into the black garbage bin step by step.",
+    "Grab the smooth yellow bottle with ridged cap, the bottle for holding liquids, and the red bottle and put them sequentially into the medium-sized black plastic dustbin.",
+    "Lift the bottle with small ridged green cap, the medium-sized water bottle, and the rounded bottle with a white neck, dropping each into the black garbage bin sequentially.",
+    "Begin with the yellow bottle body with tapered neck, move it to the plastic dustbin, then continue with the transparent bottle and the red-labeled soda bottle.",
+    "Take the bottle with green cap, the bottle for holding liquids, and the hand-sized drinking bottle and place them into the black dustbin on the left.",
+    "Put the yellow liquid container with green top into the trash bin, followed by the cylindrical bottle and the bottle with curved body shape.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the blue-accented cylindrical bottle, and the black bottle with red label into the trash bin step by step.",
+    "Pick the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the black and red bottle one at a time and put them into the trash bin.",
+    "Use the arms to transfer the yellow bottle, the cylindrical bottle, and the black soda bottle with white top into the medium-sized black plastic dustbin one by one.",
+    "Carry the medium yellow cylindrical bottle first, drop it into the dustbin with lid and bag, repeat with the blue-accented cylindrical bottle and the red bottle.",
+    "Grab each of the yellow bottle, the bottle with turquoise cap, and the black and red bottle and drop them into the black and white trash holder.",
+    "Pick up the smooth yellow bottle with ridged cap, the bottle with narrow neck, and the black and red bottle, moving them one by one into the medium black garbage container.",
+    "Pick the bottle with small ridged green cap, the water bottle with textured body, and the black bottle with red label from the table and place them inside the dustbin with white inner bag.",
+    "Place the bottle with green cap, the cylindrical bottle, and the hand-sized drinking bottle into the black and white trash holder one after another.",
+    "Place the green-striped cap on yellow bottle, the smooth transparent plastic bottle, and the smooth plastic bottle into the trash bin after taking them individually.",
+    "Using arms, grab the bottle with green cap and place it in the dustbin with lid and bag, do the same for the hand-sized bottle and the black soda bottle with white top.",
+    "Grab the yellow bottle with smooth texture and the water bottle with textured body, put them into the rectangular black trash holder, and repeat for the black and red bottle.",
+    "Use arms to pick the bottle with small ridged green cap, drop it in the trash bin, repeat for the clear bottle with blue sections and the black bottle with red label.",
+    "Grab the bottle with green cap, place it in the plastic dustbin, then grab the smooth transparent plastic bottle and the black bottle with red label for the plastic dustbin.",
+    "Use arms to move the smooth yellow bottle with ridged cap, the cylindrical bottle, and the plastic bottle with red cap to the smooth black dustbin on the table's left.",
+    "Start with the yellow bottle with smooth texture, grab it and drop it into the rectangular black trash holder, repeat for the transparent bottle and the plastic bottle with red cap.",
+    "Pick the medium yellow cylindrical bottle and move it into the black dustbin, repeat for the smooth transparent plastic bottle and the plastic bottle with red cap.",
+    "Transfer the yellow liquid container with green top, the clear bottle with blue sections, and the black bottle with red label to the rectangular black trash holder located to the table's left.",
+    "Move the medium plastic bottle with tapered neck, the clear bottle with blue sections, and the rounded bottle with a white neck to the black bin with white liner sequentially using the arms.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and the bottle with narrow neck, then place them into the plastic dustbin along with the plastic bottle with red cap.",
+    "Take the yellow bottle with smooth texture, drop it in the medium black garbage container, then move the transparent bottle and the red-labeled soda bottle to the medium black garbage container.",
+    "Place the medium yellow cylindrical bottle, the smooth transparent plastic bottle, and the rounded bottle with a white neck, one at a time, into the trash bin.",
+    "Grab the yellow bottle with smooth texture, the medium-sized water bottle, and the plastic bottle with red cap sequentially, placing each into the black dustbin.",
+    "Use arms to pick the bottle made of smooth plastic, the bottle with ribbed design, and the drink bottle with slim neck and place them in the black garbage bin.",
+    "Move the bottle made of smooth plastic, the bottle with turquoise cap, and the black soda bottle with white top into the dustbin with white inner bag one by one.",
+    "Move the yellow bottle with smooth texture to the black dustbin, then the transparent bottle, and finally the red-labeled soda bottle.",
+    "Move the bottle made of smooth plastic into the black dustbin, then do the same for the smooth transparent plastic bottle and the red and black beverage bottle.",
+    "Place the yellow bottle with smooth texture, the bottle with narrow neck, and the black soda bottle with white top in the smooth black dustbin using the arms.",
+    "Use arms to grab the medium plastic bottle with tapered neck, the bottle for holding liquids, the drink bottle with slim neck, and set them into the dustbin with lid and bag to the left.",
+    "Carefully grab the green-striped cap on yellow bottle, the cylindrical bottle, and the red-labeled soda bottle and position them in the black dustbin.",
+    "Grab the smooth yellow bottle with ridged cap, put it in the trash bin, follow by moving the water bottle with textured body and the plastic bottle with red cap there too.",
+    "Use arms to pick the cylindrical yellow bottle for holding liquids, the blue-accented cylindrical bottle, and the red bottle, dropping them into the black dustbin.",
+    "Using arms, pick up the medium plastic bottle with tapered neck, the bottle for holding liquids, and the red bottle, dropping each into the rectangular black trash holder.",
+    "Pick the yellow bottle body with tapered neck, drop it into the dustbin with white inner bag, then move the smooth transparent plastic bottle and the drink bottle with slim neck into the dustbin with white inner bag.",
+    "With arms, place the yellow bottle with smooth texture, the water bottle with textured body, and the smooth plastic bottle into the plastic dustbin step by step.",
+    "Transfer the smooth yellow bottle with ridged cap, the transparent bottle, and the black bottle with red label into the medium-sized black plastic dustbin using your arms, one by one.",
+    "Use arms to move the yellow bottle, the smooth transparent plastic bottle, and the red bottle into the black bin with white liner.",
+    "Using arms, grab the cylindrical yellow bottle for holding liquids and put it in the medium black garbage container, repeat for the transparent bottle and the black soda bottle with white top.",
+    "Take the cylindrical yellow bottle for holding liquids with arms, put it in the dustbin with lid and bag, repeat the same for the transparent bottle and the drink bottle with slim neck.",
+    "Use the arms to move the smooth yellow bottle with ridged cap into the dustbin with lid and bag, then repeat for the bottle with turquoise cap and the bottle with curved body shape.",
+    "Use arms to pick the bottle with green cap, the blue-accented cylindrical bottle, the black soda bottle with white top, and place them one by one in the plastic dustbin.",
+    "Take the bottle with small ridged green cap, the water bottle with textured body, and the hand-sized drinking bottle one at a time and place them into the rectangular black trash holder.",
+    "Drop the yellow bottle with smooth texture, the clear bottle with blue sections, and the smooth plastic bottle into the black and white trash holder, handling them one at a time.",
+    "Grab the green-striped cap on yellow bottle, drop it in the dustbin with white inner bag, do the same for the bottle with narrow neck and the smooth plastic bottle.",
+    "Grab the yellow liquid container with green top, the bottle with turquoise cap, the drink bottle with slim neck, and drop them into the black bin with white liner to the left of the table.",
+    "Transfer the yellow bottle, the bottle with ribbed design, and the black bottle with red label into the black garbage bin step by step.",
+    "Grab the bottle made of smooth plastic, the bottle with ribbed design, and the plastic bottle with red cap and put them sequentially into the black garbage bin.",
+    "Lift the cylindrical yellow bottle for holding liquids, the bottle with turquoise cap, and the rounded bottle with a white neck, dropping each into the medium black garbage container sequentially.",
+    "Begin with the smooth yellow bottle with ridged cap, move it to the medium-sized black plastic dustbin, then continue with the bottle with ribbed design and the bottle with curved body shape.",
+    "Take the yellow liquid container with green top, the bottle with narrow neck, and the black and red bottle and place them into the medium-sized black plastic dustbin on the left.",
+    "Put the bottle with green cap into the black bin with white liner, followed by the bottle with ribbed design and the black bottle with red label.",
+    "Use the arms to transfer the medium plastic bottle with tapered neck, the smooth transparent plastic bottle, and the black and red bottle into the black bin with white liner step by step.",
+    "Pick the bottle with small ridged green cap, the transparent bottle, and the red-labeled soda bottle one at a time and put them into the medium-sized black plastic dustbin.",
+    "Use the arms to transfer the yellow bottle with smooth texture, the bottle for holding liquids, and the plastic bottle with red cap into the black dustbin one by one.",
+    "Carry the yellow bottle first, drop it into the black bin with white liner, repeat with the smooth transparent plastic bottle and the red and black beverage bottle.",
+    "Grab each of the green-striped cap on yellow bottle, the cylindrical bottle, and the bottle with curved body shape and drop them into the black dustbin.",
+    "Pick up the green-striped cap on yellow bottle, the water bottle with textured body, and the drink bottle with slim neck, moving them one by one into the dustbin with white inner bag.",
+    "Pick the bottle made of smooth plastic, the bottle for holding liquids, and the rounded bottle with a white neck from the table and place them inside the dustbin with lid and bag."
+  ],
+  "unseen": [
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the plastic bottle and the medium black bottle.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the bottle with ridges, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the curved rectangular trash can, repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the bottle with ridges, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the simple black garbage bin, do the same for the bottle with ridges and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the smooth surface dustbin; repeat for the plastic bottle and the medium black bottle.",
+    "Use arms to grab the plastic bottle with two distinct parts, the plastic bottle, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the bottle with red screw cap one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the bottle with ridges, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the plastic bottle and the bottle with red screw cap.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the bottle with red screw cap.",
+    "Pick up the yellow plastic bottle, the plastic bottle, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the yellow plastic bottle and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap, placing each into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and drop it into the curved rectangular trash can, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with blue highlights and the bottle with red screw cap.",
+    "Pick the yellow plastic bottle, drop it into the simple black garbage bin, repeat for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick up the plastic bottle with two distinct parts, the plastic bottle, and the medium black bottle one by one and drop them into the curved rectangular trash can.",
+    "Pick up the yellow plastic bottle and toss it into the simple black garbage bin; repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Use arms to grab the plastic bottle with two distinct parts, the bottle with blue highlights, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, then repeat for the bottle with blue highlights and the bottle with red screw cap.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with ridges, the plastic bottle with ridges near bottom one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with ridges and the bottle with red screw cap.",
+    "Grab the yellow plastic bottle and place it in the curved rectangular trash can, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and toss it into the curved rectangular trash can; repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the yellow bottle with elongated cylinder body, the plastic bottle, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the curved rectangular trash can.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the curved rectangular trash can.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the curved rectangular trash can, do the same for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Grab the yellow bottle with elongated cylinder body and place it in the simple black garbage bin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the curved rectangular trash can, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the medium black bottle one by one and drop them into the smooth surface dustbin.",
+    "Pick up the yellow bottle with elongated cylinder body and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the smooth surface dustbin, then repeat for the bottle with blue highlights and the medium black bottle.",
+    "Move the plastic bottle with two distinct parts, the bottle with ridges, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the plastic bottle with two distinct parts, the bottle with blue highlights, the medium black bottle one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the plastic bottle with ridges near bottom and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and drop it into the smooth surface dustbin, do the same for the bottle with blue highlights and the plastic bottle with ridges near bottom.",
+    "Grab the plastic bottle with two distinct parts and place it in the smooth surface dustbin, then do the same for the plastic bottle and the plastic bottle with ridges near bottom.",
+    "Pick the yellow plastic bottle, drop it into the smooth surface dustbin, repeat for the bottle with ridges and the bottle with red screw cap.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap one by one and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the smooth surface dustbin; repeat for the bottle with ridges and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts, drop it into the smooth surface dustbin, then repeat for the bottle with ridges and the medium black bottle.",
+    "Move the yellow plastic bottle, the bottle with blue highlights, and the medium black bottle into the curved rectangular trash can on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the bottle with blue highlights, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the smooth surface dustbin, do the same for the plastic bottle and the medium black bottle.",
+    "Grab the yellow plastic bottle and place it in the smooth surface dustbin, then do the same for the bottle with ridges and the medium black bottle.",
+    "Pick the yellow bottle with elongated cylinder body, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap one by one and drop them into the smooth surface dustbin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the curved rectangular trash can; repeat for the bottle with blue highlights and the medium black bottle.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the plastic bottle with ridges near bottom, placing each into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle, drop it into the simple black garbage bin, then repeat for the bottle with ridges and the plastic bottle with ridges near bottom.",
+    "Move the yellow bottle with elongated cylinder body, the bottle with blue highlights, and the bottle with red screw cap into the smooth surface dustbin on the left of the table.",
+    "Take each bottle the yellow plastic bottle, the plastic bottle, the medium black bottle one by one and place them in the smooth surface dustbin.",
+    "Use arms to grab the yellow plastic bottle, the plastic bottle, and the medium black bottle and drop them into the smooth surface dustbin.",
+    "Pick up the yellow plastic bottle and drop it into the simple black garbage bin, do the same for the plastic bottle and the bottle with red screw cap.",
+    "Grab the plastic bottle with two distinct parts and place it in the curved rectangular trash can, then do the same for the bottle with blue highlights and the medium black bottle.",
+    "Pick the plastic bottle with two distinct parts, drop it into the simple black garbage bin, repeat for the plastic bottle and the medium black bottle.",
+    "Pick up the plastic bottle with two distinct parts, the bottle with ridges, and the medium black bottle one by one and drop them into the simple black garbage bin.",
+    "Pick up the plastic bottle with two distinct parts and toss it into the simple black garbage bin; repeat for the plastic bottle and the bottle with red screw cap.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the bottle with red screw cap, placing each into the simple black garbage bin.",
+    "Pick up the yellow bottle with elongated cylinder body, drop it into the smooth surface dustbin, then repeat for the plastic bottle and the bottle with red screw cap.",
+    "Move the plastic bottle with two distinct parts, the bottle with blue highlights, and the bottle with red screw cap into the simple black garbage bin on the left of the table.",
+    "Take each bottle the yellow bottle with elongated cylinder body, the plastic bottle, the plastic bottle with ridges near bottom one by one and place them in the simple black garbage bin.",
+    "Use arms to grab the yellow bottle with elongated cylinder body, the bottle with ridges, and the plastic bottle with ridges near bottom and drop them into the curved rectangular trash can."
+  ]
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/scene_info.json b/put_bottles_dustbin/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ede6e78fa269f83938d8360cc1d3caca32bda5
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/scene_info.json
@@ -0,0 +1,262 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "114_bottle/base1",
+            "{B}": "114_bottle/base2",
+            "{C}": "114_bottle/base3",
+            "{D}": "011_dustbin/base0"
+        }
+    }
+}
\ No newline at end of file
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/seed.txt b/put_bottles_dustbin/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42fcb0e625ad47ad14d4d190a12a337e911b47c4
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/seed.txt
@@ -0,0 +1 @@
+0 2 3 5 6 7 9 10 13 15 18 20 23 24 26 28 30 34 35 37 
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode0.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c2686cbcddb2ec47d5f02cd6448a61971be395b
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the plastic bottle with curved sides and shake it sideways.",
+    "Pick the plastic bottle with curved sides using the right arm and move it horizontally.",
+    "Shake the plastic bottle with curved sides side-to-side after grabbing it.",
+    "Shake the yellow bottle for liquid storage horizontally after lifting with the right arm.",
+    "Simply shake the yellow bottle with blue label horizontally without the right arm details.",
+    "Pick the yellow bottle with dark label, then shake it horizontally.",
+    "Grab the yellow bottle with blue label with the right arm and shake horizontally.",
+    "Shake the medium-sized bottle from side to side.",
+    "Grab and shake the yellow bottle with blue label horizontally without mentioning the right arm.",
+    "Using the right arm, grab the bottle with screw cap and shake it sideways.",
+    "Shake the yellow bottle horizontally without mentioning the right arm.",
+    "Lift the plastic bottle using the right arm and shake horizontally.",
+    "Grab the smooth plastic bottle and shake in a horizontal motion.",
+    "Hold the plastic bottle with curved sides with the right arm and move it left and right.",
+    "With the right arm, grab the yellow bottle and shake it horizontally.",
+    "Utilize the right arm to grab the smooth plastic bottle and shake sideways.",
+    "Use the right arm to pick the yellow bottle for liquid storage and shake it horizontally.",
+    "Hold the plastic bottle using the right arm and shake it horizontally.",
+    "Use the right arm to grab the medium-sized bottle and move it horizontally.",
+    "Hold the bottle for liquid and shake it side to side.",
+    "Lift the bottle with screw cap and move it back and forth.",
+    "Pick up the plastic bottle with curved sides using the right arm, shake it horizontally.",
+    "Hold the bottle with screw cap steady and shake it horizontally.",
+    "Pick up the medium plastic bottle with cap and shake it from side to side.",
+    "Lift the bottle for liquid with the right arm, then shake it side to side.",
+    "Grip the bottle with screw cap, then shake it back and forth.",
+    "Grab the yellow bottle using the right arm and move it side-to-side.",
+    "Hold the yellow bottle with blue label and move it side to side.",
+    "Secure the medium plastic bottle with cap with the right arm, shake in horizontal motion.",
+    "Pick up the yellow bottle and shake it horizontally.",
+    "Hold the medium plastic bottle with cap with the right arm and shake horizontally.",
+    "Lift the yellow bottle with blue label using the right arm and shake it sideways.",
+    "Lift the smooth plastic bottle and shake it horizontally.",
+    "Hold the medium-sized bottle and move it side to side.",
+    "Pick up the plastic bottle and shake it side to side.",
+    "Grab the yellow bottle with dark label, shake it horizontally, then release.",
+    "Pick up the handheld curvy bottle with the right arm, shake it sideways.",
+    "Move the yellow bottle side-to-side after grabbing it.",
+    "Take the yellow bottle with blue label in the right arm and shake it back and forth.",
+    "Pick up the medium-sized bottle using the right arm and shake sideways.",
+    "Lift the medium plastic bottle with cap and move it side-to-side.",
+    "Pick the plastic bottle up and shake it horizontally.",
+    "Using the right arm, pick up the plastic bottle and shake sideways.",
+    "Shake the plastic bottle with curved sides smoothly without using the right arm reference.",
+    "Shake the medium plastic bottle with cap side-to-side after grabbing it.",
+    "Use the right arm to grab the medium-sized bottle and shake horizontally.",
+    "Using the right arm, shake the medium-sized bottle horizontally.",
+    "Grab the plastic bottle with curved sides and move it side-to-side repeatedly.",
+    "Take hold of the yellow bottle with blue label using the right arm and move horizontally.",
+    "Use the right arm to hold the bottle for liquid firmly and shake horizontally.",
+    "Use the right arm to hold the medium-sized bottle and shake it sideways.",
+    "Pick the handheld curvy bottle using the right arm and move it horizontally.",
+    "Shake the plastic bottle side-to-side after grabbing it.",
+    "Shake the plastic bottle horizontally after lifting with the right arm.",
+    "Simply shake the medium-sized bottle horizontally without the right arm details.",
+    "Pick the medium plastic bottle with cap, then shake it horizontally.",
+    "Grab the plastic bottle with the right arm and shake horizontally.",
+    "Shake the bottle for liquid from side to side.",
+    "Grab and shake the yellow bottle with dark label horizontally without mentioning the right arm.",
+    "Using the right arm, grab the bottle with screw cap and shake it sideways.",
+    "Shake the plastic bottle with curved sides horizontally without mentioning the right arm.",
+    "Lift the medium plastic bottle with cap using the right arm and shake horizontally.",
+    "Grab the yellow bottle for liquid storage and shake in a horizontal motion.",
+    "Hold the plastic bottle with the right arm and move it left and right.",
+    "With the right arm, grab the bottle for liquid and shake it horizontally.",
+    "Utilize the right arm to grab the yellow bottle and shake sideways.",
+    "Use the right arm to pick the yellow bottle for liquid storage and shake it horizontally.",
+    "Hold the medium plastic bottle with cap using the right arm and shake it horizontally.",
+    "Use the right arm to grab the bottle for liquid and move it horizontally.",
+    "Hold the medium-sized bottle and shake it side to side.",
+    "Lift the yellow bottle for liquid storage and move it back and forth.",
+    "Pick up the medium-sized bottle using the right arm, shake it horizontally.",
+    "Hold the yellow bottle with blue label steady and shake it horizontally.",
+    "Pick up the medium plastic bottle with cap and shake it from side to side.",
+    "Lift the yellow bottle with the right arm, then shake it side to side.",
+    "Grip the bottle with screw cap, then shake it back and forth.",
+    "Grab the plastic bottle using the right arm and move it side-to-side.",
+    "Hold the yellow bottle and move it side to side.",
+    "Secure the medium-sized bottle with the right arm, shake in horizontal motion.",
+    "Pick up the plastic bottle with curved sides and shake it horizontally.",
+    "Hold the medium plastic bottle with cap with the right arm and shake horizontally.",
+    "Lift the smooth plastic bottle using the right arm and shake it sideways.",
+    "Lift the handheld curvy bottle and shake it horizontally.",
+    "Hold the yellow bottle with blue label and move it side to side.",
+    "Pick up the handheld curvy bottle and shake it side to side.",
+    "Grab the handheld curvy bottle, shake it horizontally, then release.",
+    "Pick up the bottle with screw cap with the right arm, shake it sideways.",
+    "Move the yellow bottle for liquid storage side-to-side after grabbing it.",
+    "Take the yellow bottle with dark label in the right arm and shake it back and forth.",
+    "Pick up the medium-sized bottle using the right arm and shake sideways.",
+    "Lift the yellow bottle and move it side-to-side.",
+    "Pick the plastic bottle up and shake it horizontally.",
+    "Using the right arm, pick up the medium plastic bottle with cap and shake sideways.",
+    "Shake the plastic bottle smoothly without using the right arm reference.",
+    "Shake the yellow bottle side-to-side after grabbing it.",
+    "Use the right arm to grab the medium-sized bottle and shake horizontally.",
+    "Using the right arm, shake the plastic bottle horizontally.",
+    "Grab the yellow bottle for liquid storage and move it side-to-side repeatedly.",
+    "Take hold of the yellow bottle using the right arm and move horizontally.",
+    "Use the right arm to hold the bottle for liquid firmly and shake horizontally."
+  ],
+  "unseen": [
+    "Grab the curvy yellow plastic bottle with the right arm and shake horizontally.",
+    "Grab the yellow bottle with white cap and shake it horizontally.",
+    "Grip the yellow bottle with white cap and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the yellow bottle with white cap, shake it horizontally.",
+    "Use the right arm to pick the yellow bottle with white cap and shake it.",
+    "Shake the yellow bottle with white cap horizontally after grabbing it.",
+    "Grab the smooth bottle with blue text with the right arm, shake horizontally.",
+    "Use the right arm to hold the yellow bottle with white cap and shake sideways.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing.",
+    "Grab the yellow bottle with white cap with the right arm and shake horizontally.",
+    "Grab the curvy yellow plastic bottle and shake it horizontally.",
+    "Grip the smooth bottle with blue text and shake it horizontally.",
+    "Shake the curvy yellow plastic bottle side-to-side after picking it up.",
+    "Grab the yellow bottle with white cap, shake it horizontally.",
+    "Use the right arm to pick the smooth bottle with blue text and shake it.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing it.",
+    "Grab the yellow bottle with white cap with the right arm, shake horizontally.",
+    "Use the right arm to hold the yellow bottle with white cap and shake sideways.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing.",
+    "Grab the yellow bottle with white cap with the right arm and shake horizontally.",
+    "Grab the curvy yellow plastic bottle and shake it horizontally.",
+    "Grip the yellow bottle with white cap and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the curvy yellow plastic bottle, shake it horizontally.",
+    "Use the right arm to pick the smooth bottle with blue text and shake it.",
+    "Shake the yellow bottle with white cap horizontally after grabbing it.",
+    "Grab the yellow bottle with white cap with the right arm, shake horizontally.",
+    "Use the right arm to hold the smooth bottle with blue text and shake sideways.",
+    "Shake the yellow bottle with white cap horizontally after grabbing.",
+    "Grab the yellow bottle with white cap with the right arm and shake horizontally.",
+    "Grab the smooth bottle with blue text and shake it horizontally.",
+    "Grip the yellow bottle with white cap and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the yellow bottle with white cap, shake it horizontally.",
+    "Use the right arm to pick the yellow bottle with white cap and shake it.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing it.",
+    "Grab the smooth bottle with blue text with the right arm, shake horizontally.",
+    "Use the right arm to hold the yellow bottle with white cap and shake sideways.",
+    "Shake the smooth bottle with blue text horizontally after grabbing.",
+    "Grab the curvy yellow plastic bottle with the right arm and shake horizontally.",
+    "Grab the smooth bottle with blue text and shake it horizontally.",
+    "Grip the yellow bottle with white cap and shake it horizontally.",
+    "Shake the yellow bottle with white cap side-to-side after picking it up.",
+    "Grab the smooth bottle with blue text, shake it horizontally.",
+    "Use the right arm to pick the smooth bottle with blue text and shake it.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing it.",
+    "Grab the curvy yellow plastic bottle with the right arm, shake horizontally.",
+    "Use the right arm to hold the smooth bottle with blue text and shake sideways.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing.",
+    "Grab the curvy yellow plastic bottle with the right arm and shake horizontally.",
+    "Grab the curvy yellow plastic bottle and shake it horizontally.",
+    "Grip the smooth bottle with blue text and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the curvy yellow plastic bottle, shake it horizontally.",
+    "Use the right arm to pick the smooth bottle with blue text and shake it.",
+    "Shake the yellow bottle with white cap horizontally after grabbing it.",
+    "Grab the yellow bottle with white cap with the right arm, shake horizontally.",
+    "Use the right arm to hold the curvy yellow plastic bottle and shake sideways.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing.",
+    "Grab the yellow bottle with white cap with the right arm and shake horizontally.",
+    "Grab the yellow bottle with white cap and shake it horizontally.",
+    "Grip the smooth bottle with blue text and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the yellow bottle with white cap, shake it horizontally.",
+    "Use the right arm to pick the yellow bottle with white cap and shake it.",
+    "Shake the yellow bottle with white cap horizontally after grabbing it.",
+    "Grab the yellow bottle with white cap with the right arm, shake horizontally.",
+    "Use the right arm to hold the smooth bottle with blue text and shake sideways.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing.",
+    "Grab the yellow bottle with white cap with the right arm and shake horizontally.",
+    "Grab the yellow bottle with white cap and shake it horizontally.",
+    "Grip the yellow bottle with white cap and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the smooth bottle with blue text, shake it horizontally.",
+    "Use the right arm to pick the smooth bottle with blue text and shake it.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing it.",
+    "Grab the smooth bottle with blue text with the right arm, shake horizontally.",
+    "Use the right arm to hold the smooth bottle with blue text and shake sideways.",
+    "Shake the curvy yellow plastic bottle horizontally after grabbing.",
+    "Grab the smooth bottle with blue text with the right arm and shake horizontally.",
+    "Grab the yellow bottle with white cap and shake it horizontally.",
+    "Grip the smooth bottle with blue text and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the yellow bottle with white cap, shake it horizontally.",
+    "Use the right arm to pick the smooth bottle with blue text and shake it.",
+    "Shake the yellow bottle with white cap horizontally after grabbing it.",
+    "Grab the smooth bottle with blue text with the right arm, shake horizontally.",
+    "Use the right arm to hold the smooth bottle with blue text and shake sideways.",
+    "Shake the yellow bottle with white cap horizontally after grabbing.",
+    "Grab the curvy yellow plastic bottle with the right arm and shake horizontally.",
+    "Grab the smooth bottle with blue text and shake it horizontally.",
+    "Grip the curvy yellow plastic bottle and shake it horizontally.",
+    "Shake the smooth bottle with blue text side-to-side after picking it up.",
+    "Grab the smooth bottle with blue text, shake it horizontally.",
+    "Use the right arm to pick the yellow bottle with white cap and shake it.",
+    "Shake the yellow bottle with white cap horizontally after grabbing it.",
+    "Grab the curvy yellow plastic bottle with the right arm, shake horizontally.",
+    "Use the right arm to hold the curvy yellow plastic bottle and shake sideways.",
+    "Shake the smooth bottle with blue text horizontally after grabbing."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode1.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f18fc88814f24970e9fc98a4b79b0836e8367b89
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the handheld brown bottle with white lid from side to side.",
+    "Shake the rounded bottle with printed details horizontally after lifting with the right arm.",
+    "Lift the white-capped brown cylindrical bottle with the right arm, then shake it side to side.",
+    "Pick the bottle with brown body and white top using the right arm and move it horizontally.",
+    "Grab the bottle with dark brown color with the right arm and shake horizontally.",
+    "Pick up the rounded bottle with printed details using the right arm, shake it horizontally.",
+    "Grab the handheld brown bottle with white lid, shake it horizontally, then release.",
+    "Grip the handheld brown bottle with white lid, then shake it back and forth.",
+    "Grab the bottle with white cap and move it side-to-side repeatedly.",
+    "Pick up the bottle with white cap using the right arm and shake sideways.",
+    "Use the right arm to pick the bottle with dark brown color and shake it horizontally.",
+    "Shake the medium bottle with smooth texture side-to-side after grabbing it.",
+    "Pick up the bottle with white cap and shake it side to side.",
+    "Using the right arm, grab the medium bottle with smooth texture and shake it sideways.",
+    "Lift the plastic bottle with printed label and move it back and forth.",
+    "Hold the handheld brown bottle with white lid with the right arm and shake horizontally.",
+    "Pick up the medium plastic bottle and shake it from side to side.",
+    "Using the right arm, pick up the bottle with brown body and white top and shake sideways.",
+    "With the right arm, grab the smooth brown bottle and shake it horizontally.",
+    "Pick the bottle with dark brown color, then shake it horizontally.",
+    "Grab the bottle with white cap using the right arm and move it side-to-side.",
+    "Lift the bottle with dark brown color and move it side-to-side.",
+    "Hold the plastic bottle with printed label and shake it side to side.",
+    "Use the right arm to grab the medium plastic bottle and shake horizontally.",
+    "Hold the medium bottle with smooth texture and move it side to side.",
+    "Hold the cylindrical bottle with narrow neck steady and shake it horizontally.",
+    "Lift the bottle with brown body and white top using the right arm and shake horizontally.",
+    "Secure the handheld brown bottle with white lid with the right arm, shake in horizontal motion.",
+    "Grab the cylindrical bottle with narrow neck and shake in a horizontal motion.",
+    "Shake the bottle with white cap smoothly without using the right arm reference.",
+    "Simply shake the bottle with white cap horizontally without the right arm details.",
+    "Hold the plastic bottle with printed label using the right arm and shake it horizontally.",
+    "Take the cylindrical bottle with narrow neck in the right arm and shake it back and forth.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and move it horizontally.",
+    "Shake the handheld brown bottle with white lid horizontally without mentioning the right arm.",
+    "Grab and shake the plastic bottle for liquids horizontally without mentioning the right arm.",
+    "Use the right arm to hold the rounded bottle with printed details and shake it sideways.",
+    "Use the right arm to hold the plastic bottle for liquids firmly and shake horizontally.",
+    "Using the right arm, shake the smooth brown bottle horizontally.",
+    "Move the smooth brown bottle side-to-side after grabbing it.",
+    "Pick the rounded bottle with printed details up and shake it horizontally.",
+    "Lift the medium bottle with smooth texture and shake it horizontally.",
+    "Take hold of the bottle with dark brown color using the right arm and move horizontally.",
+    "Pick up the rounded bottle with printed details with the right arm, shake it sideways.",
+    "Shake the handheld brown bottle with white lid side-to-side after grabbing it.",
+    "Lift the plastic bottle for liquids using the right arm and shake it sideways.",
+    "Hold the white-capped brown cylindrical bottle and move it side to side.",
+    "Pick up the plastic bottle for liquids and shake it horizontally.",
+    "Utilize the right arm to grab the handheld brown bottle with white lid and shake sideways.",
+    "Hold the medium bottle with smooth texture with the right arm and move it left and right.",
+    "Shake the handheld brown bottle with white lid from side to side.",
+    "Shake the bottle with brown body and white top horizontally after lifting with the right arm.",
+    "Lift the rounded bottle with printed details with the right arm, then shake it side to side.",
+    "Pick the bottle with white cap using the right arm and move it horizontally.",
+    "Grab the white-capped brown cylindrical bottle with the right arm and shake horizontally.",
+    "Pick up the bottle with white cap using the right arm, shake it horizontally.",
+    "Grab the medium bottle with smooth texture, shake it horizontally, then release.",
+    "Grip the bottle with dark brown color, then shake it back and forth.",
+    "Grab the plastic bottle for liquids and move it side-to-side repeatedly.",
+    "Pick up the handheld brown bottle with white lid using the right arm and shake sideways.",
+    "Use the right arm to pick the handheld brown bottle with white lid and shake it horizontally.",
+    "Shake the medium plastic bottle side-to-side after grabbing it.",
+    "Pick up the plastic bottle with printed label and shake it side to side.",
+    "Using the right arm, grab the plastic bottle with printed label and shake it sideways.",
+    "Lift the smooth brown bottle and move it back and forth.",
+    "Hold the plastic bottle for liquids with the right arm and shake horizontally.",
+    "Pick up the bottle with dark brown color and shake it from side to side.",
+    "Using the right arm, pick up the rounded bottle with printed details and shake sideways.",
+    "With the right arm, grab the bottle with brown body and white top and shake it horizontally.",
+    "Pick the bottle with white cap, then shake it horizontally.",
+    "Grab the cylindrical bottle with narrow neck using the right arm and move it side-to-side.",
+    "Lift the medium plastic bottle and move it side-to-side.",
+    "Hold the smooth brown bottle and shake it side to side.",
+    "Use the right arm to grab the bottle with white cap and shake horizontally.",
+    "Hold the smooth brown bottle and move it side to side.",
+    "Hold the plastic bottle for liquids steady and shake it horizontally.",
+    "Lift the plastic bottle with printed label using the right arm and shake horizontally.",
+    "Secure the medium plastic bottle with the right arm, shake in horizontal motion.",
+    "Grab the rounded bottle with printed details and shake in a horizontal motion.",
+    "Shake the cylindrical bottle with narrow neck smoothly without using the right arm reference.",
+    "Simply shake the bottle with white cap horizontally without the right arm details.",
+    "Hold the smooth brown bottle using the right arm and shake it horizontally.",
+    "Take the plastic bottle with printed label in the right arm and shake it back and forth.",
+    "Use the right arm to grab the medium bottle with smooth texture and move it horizontally.",
+    "Shake the bottle with white cap horizontally without mentioning the right arm.",
+    "Grab and shake the plastic bottle for liquids horizontally without mentioning the right arm.",
+    "Use the right arm to hold the bottle with brown body and white top and shake it sideways.",
+    "Use the right arm to hold the medium bottle with smooth texture firmly and shake horizontally.",
+    "Using the right arm, shake the medium bottle with smooth texture horizontally.",
+    "Move the bottle with brown body and white top side-to-side after grabbing it.",
+    "Pick the plastic bottle with printed label up and shake it horizontally.",
+    "Lift the medium bottle with smooth texture and shake it horizontally.",
+    "Take hold of the smooth brown bottle using the right arm and move horizontally.",
+    "Pick up the white-capped brown cylindrical bottle with the right arm, shake it sideways.",
+    "Shake the plastic bottle for liquids side-to-side after grabbing it.",
+    "Lift the bottle with brown body and white top using the right arm and shake it sideways.",
+    "Hold the smooth brown bottle and move it side to side.",
+    "Pick up the white-capped brown cylindrical bottle and shake it horizontally.",
+    "Utilize the right arm to grab the medium bottle with smooth texture and shake sideways.",
+    "Hold the medium bottle with smooth texture with the right arm and move it left and right."
+  ],
+  "unseen": [
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Grab the brown cylindrical bottle with label with the right arm, shake horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Use the right arm to pick the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle with the right arm and shake horizontally.",
+    "Grip the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing it.",
+    "Grab the lightweight plastic brown bottle with the right arm, shake horizontally.",
+    "Grab the lightweight plastic brown bottle, shake it horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the right arm to hold the brown cylindrical bottle with label and shake sideways.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label with the right arm and shake horizontally.",
+    "Grip the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing it.",
+    "Grab the lightweight plastic brown bottle with the right arm, shake horizontally.",
+    "Grab the brown cylindrical bottle with label, shake it horizontally.",
+    "Shake the lightweight plastic brown bottle side-to-side after picking it up.",
+    "Use the right arm to hold the lightweight plastic brown bottle and shake sideways.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle with the right arm and shake horizontally.",
+    "Grip the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing.",
+    "Grab the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing it.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the brown cylindrical bottle with label, shake it horizontally.",
+    "Shake the lightweight plastic brown bottle side-to-side after picking it up.",
+    "Use the right arm to hold the brown cylindrical bottle with label and shake sideways.",
+    "Use the right arm to pick the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label with the right arm and shake horizontally.",
+    "Grip the lightweight plastic brown bottle and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing.",
+    "Grab the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing it.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the brown cylindrical bottle with label side-to-side after picking it up.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle with the right arm and shake horizontally.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing it.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the lightweight plastic brown bottle, shake it horizontally.",
+    "Shake the brown cylindrical bottle with label side-to-side after picking it up.",
+    "Use the right arm to hold the brown cylindrical bottle with label and shake sideways.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label with the right arm and shake horizontally.",
+    "Grip the lightweight plastic brown bottle and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Grab the lightweight plastic brown bottle with the right arm, shake horizontally.",
+    "Grab the lightweight plastic brown bottle, shake it horizontally.",
+    "Shake the brown cylindrical bottle with label side-to-side after picking it up.",
+    "Use the right arm to hold the lightweight plastic brown bottle and shake sideways.",
+    "Use the right arm to pick the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label with the right arm and shake horizontally.",
+    "Grip the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing it.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the lightweight plastic brown bottle, shake it horizontally.",
+    "Shake the brown cylindrical bottle with label side-to-side after picking it up.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grab the brown bottle with the right arm and shake horizontally.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing.",
+    "Grab the brown cylindrical bottle with label and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing it.",
+    "Grab the brown cylindrical bottle with label with the right arm, shake horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the right arm to hold the lightweight plastic brown bottle and shake sideways.",
+    "Use the right arm to pick the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle with the right arm and shake horizontally.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing.",
+    "Grab the lightweight plastic brown bottle and shake it horizontally.",
+    "Shake the brown cylindrical bottle with label horizontally after grabbing it.",
+    "Grab the brown cylindrical bottle with label with the right arm, shake horizontally.",
+    "Grab the lightweight plastic brown bottle, shake it horizontally.",
+    "Shake the lightweight plastic brown bottle side-to-side after picking it up.",
+    "Use the right arm to hold the brown cylindrical bottle with label and shake sideways.",
+    "Use the right arm to pick the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label with the right arm and shake horizontally.",
+    "Grip the lightweight plastic brown bottle and shake it horizontally.",
+    "Shake the lightweight plastic brown bottle horizontally after grabbing."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode10.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d2c9c36c1b08e5f0da9e4599e0e3c4d193ba87
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium bottle with yellow cap with the right arm and move it left and right.",
+    "Using the right arm, grab the black cylindrical bottle with ridges and shake it sideways.",
+    "Use the right arm to hold the black plastic bottle with Pepsi logo firmly and shake horizontally.",
+    "Shake the smooth black bottle with ridges horizontally without mentioning the right arm.",
+    "Pick up the beverage bottle with black body and shake it side to side.",
+    "Shake the smooth black bottle with ridges smoothly without using the right arm reference.",
+    "Use the right arm to hold the bottle with blue and yellow print and shake it sideways.",
+    "Shake the black cylindrical bottle with ridges from side to side.",
+    "Lift the smooth black bottle with ridges with the right arm, then shake it side to side.",
+    "Hold the beverage bottle with black body using the right arm and shake it horizontally.",
+    "Lift the yellow capped drink bottle using the right arm and shake it sideways.",
+    "Grab the black bottle and move it side-to-side repeatedly.",
+    "Simply shake the drink bottle with rounded yellow lid horizontally without the right arm details.",
+    "Utilize the right arm to grab the yellow-capped cylindrical bottle and shake sideways.",
+    "Hold the black cylindrical bottle with ridges and move it side to side.",
+    "Grab the black cylindrical bottle with ridges with the right arm and shake horizontally.",
+    "Use the right arm to pick the bottle with blue and yellow print and shake it horizontally.",
+    "Shake the black plastic bottle with Pepsi logo side-to-side after grabbing it.",
+    "Use the right arm to grab the beverage bottle with black body and shake horizontally.",
+    "Using the right arm, pick up the beverage bottle with black body and shake sideways.",
+    "Grab the bottle with blue and yellow print, shake it horizontally, then release.",
+    "Lift the yellow-capped cylindrical bottle and move it side-to-side.",
+    "Lift the black bottle using the right arm and shake horizontally.",
+    "Grip the black bottle, then shake it back and forth.",
+    "Lift the medium bottle with yellow cap and shake it horizontally.",
+    "Shake the black plastic bottle with Pepsi logo horizontally after lifting with the right arm.",
+    "Take hold of the yellow-capped cylindrical bottle using the right arm and move horizontally.",
+    "Secure the plastic bottle with colorful label with the right arm, shake in horizontal motion.",
+    "Move the black bottle side-to-side after grabbing it.",
+    "Shake the black cylindrical bottle with ridges side-to-side after grabbing it.",
+    "Use the right arm to grab the medium bottle with yellow cap and move it horizontally.",
+    "Pick up the drink bottle with rounded yellow lid and shake it from side to side.",
+    "Pick up the smooth black bottle with ridges and shake it horizontally.",
+    "Grab the medium black bottle with printed label using the right arm and move it side-to-side.",
+    "Pick up the black cylindrical bottle with ridges using the right arm and shake sideways.",
+    "Lift the medium bottle with yellow cap and move it back and forth.",
+    "Hold the medium bottle with yellow cap with the right arm and shake horizontally.",
+    "Hold the beverage bottle with black body and shake it side to side.",
+    "Pick up the drink bottle with rounded yellow lid with the right arm, shake it sideways.",
+    "Pick the medium black bottle with printed label, then shake it horizontally.",
+    "Grab and shake the medium black bottle with printed label horizontally without mentioning the right arm.",
+    "Hold the bottle with blue and yellow print steady and shake it horizontally.",
+    "Hold the black plastic bottle with Pepsi logo and move it side to side.",
+    "Take the drink bottle with rounded yellow lid in the right arm and shake it back and forth.",
+    "Pick the drink bottle with rounded yellow lid up and shake it horizontally.",
+    "Using the right arm, shake the drink bottle with rounded yellow lid horizontally.",
+    "Pick up the yellow-capped cylindrical bottle using the right arm, shake it horizontally.",
+    "Pick the yellow-capped cylindrical bottle using the right arm and move it horizontally.",
+    "With the right arm, grab the black cylindrical bottle with ridges and shake it horizontally.",
+    "Grab the yellow-capped cylindrical bottle and shake in a horizontal motion.",
+    "Hold the black bottle with the right arm and move it left and right.",
+    "Using the right arm, grab the bottle with blue and yellow print and shake it sideways.",
+    "Use the right arm to hold the plastic bottle with colorful label firmly and shake horizontally.",
+    "Shake the smooth black bottle with ridges horizontally without mentioning the right arm.",
+    "Pick up the drink bottle with rounded yellow lid and shake it side to side.",
+    "Shake the medium bottle with yellow cap smoothly without using the right arm reference.",
+    "Use the right arm to hold the medium bottle with yellow cap and shake it sideways.",
+    "Shake the bottle with blue and yellow print from side to side.",
+    "Lift the medium bottle with yellow cap with the right arm, then shake it side to side.",
+    "Hold the black bottle using the right arm and shake it horizontally.",
+    "Lift the drink bottle with rounded yellow lid using the right arm and shake it sideways.",
+    "Grab the yellow-capped cylindrical bottle and move it side-to-side repeatedly.",
+    "Simply shake the black cylindrical bottle with ridges horizontally without the right arm details.",
+    "Utilize the right arm to grab the drink bottle with rounded yellow lid and shake sideways.",
+    "Hold the yellow-capped cylindrical bottle and move it side to side.",
+    "Grab the medium bottle with yellow cap with the right arm and shake horizontally.",
+    "Use the right arm to pick the yellow capped drink bottle and shake it horizontally.",
+    "Shake the beverage bottle with black body side-to-side after grabbing it.",
+    "Use the right arm to grab the plastic bottle with colorful label and shake horizontally.",
+    "Using the right arm, pick up the bottle with blue and yellow print and shake sideways.",
+    "Grab the plastic bottle with colorful label, shake it horizontally, then release.",
+    "Lift the black plastic bottle with Pepsi logo and move it side-to-side.",
+    "Lift the black cylindrical bottle with ridges using the right arm and shake horizontally.",
+    "Grip the beverage bottle with black body, then shake it back and forth.",
+    "Lift the yellow-capped cylindrical bottle and shake it horizontally.",
+    "Shake the medium bottle with yellow cap horizontally after lifting with the right arm.",
+    "Take hold of the black cylindrical bottle with ridges using the right arm and move horizontally.",
+    "Secure the yellow capped drink bottle with the right arm, shake in horizontal motion.",
+    "Move the plastic bottle with colorful label side-to-side after grabbing it.",
+    "Shake the black bottle side-to-side after grabbing it.",
+    "Use the right arm to grab the black cylindrical bottle with ridges and move it horizontally.",
+    "Pick up the black plastic bottle with Pepsi logo and shake it from side to side.",
+    "Pick up the black bottle and shake it horizontally.",
+    "Grab the black cylindrical bottle with ridges using the right arm and move it side-to-side.",
+    "Pick up the yellow-capped cylindrical bottle using the right arm and shake sideways.",
+    "Lift the black cylindrical bottle with ridges and move it back and forth.",
+    "Hold the yellow capped drink bottle with the right arm and shake horizontally.",
+    "Hold the medium black bottle with printed label and shake it side to side.",
+    "Pick up the black cylindrical bottle with ridges with the right arm, shake it sideways.",
+    "Pick the medium bottle with yellow cap, then shake it horizontally.",
+    "Grab and shake the bottle with blue and yellow print horizontally without mentioning the right arm.",
+    "Hold the black plastic bottle with Pepsi logo steady and shake it horizontally.",
+    "Hold the yellow-capped cylindrical bottle and move it side to side.",
+    "Take the drink bottle with rounded yellow lid in the right arm and shake it back and forth.",
+    "Pick the beverage bottle with black body up and shake it horizontally.",
+    "Using the right arm, shake the beverage bottle with black body horizontally.",
+    "Pick up the medium bottle with yellow cap using the right arm, shake it horizontally.",
+    "Pick the bottle with blue and yellow print using the right arm and move it horizontally.",
+    "With the right arm, grab the beverage bottle with black body and shake it horizontally.",
+    "Grab the bottle with blue and yellow print and shake in a horizontal motion."
+  ],
+  "unseen": [
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Grip the plastic bottle with blue label and shake it horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing.",
+    "Grip the plastic bottle with blue label and shake it horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode11.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cda6db92c5fd9be80687552f118321f63fedfcb
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium bottle with yellow cap with the right arm, then shake it side to side.",
+    "Shake the black cylindrical bottle with ridges horizontally without mentioning the right arm.",
+    "Pick the medium black bottle with printed label up and shake it horizontally.",
+    "Move the drink bottle with rounded yellow lid side-to-side after grabbing it.",
+    "Pick the medium black bottle with printed label, then shake it horizontally.",
+    "Grab the bottle with blue and yellow print and move it side-to-side repeatedly.",
+    "Grab and shake the yellow-capped cylindrical bottle horizontally without mentioning the right arm.",
+    "Hold the smooth black bottle with ridges and shake it side to side.",
+    "Pick up the smooth black bottle with ridges and shake it from side to side.",
+    "Pick up the bottle with blue and yellow print with the right arm, shake it sideways.",
+    "Use the right arm to hold the yellow capped drink bottle and shake it sideways.",
+    "Shake the plastic bottle with colorful label from side to side.",
+    "Grip the black plastic bottle with Pepsi logo, then shake it back and forth.",
+    "Shake the bottle with blue and yellow print smoothly without using the right arm reference.",
+    "Lift the medium black bottle with printed label using the right arm and shake it sideways.",
+    "Hold the plastic bottle with colorful label and move it side to side.",
+    "Lift the smooth black bottle with ridges and move it back and forth.",
+    "With the right arm, grab the black bottle and shake it horizontally.",
+    "Pick up the yellow capped drink bottle and shake it side to side.",
+    "Use the right arm to hold the beverage bottle with black body firmly and shake horizontally.",
+    "Grab the bottle with blue and yellow print using the right arm and move it side-to-side.",
+    "Hold the beverage bottle with black body using the right arm and shake it horizontally.",
+    "Grab the yellow capped drink bottle and shake in a horizontal motion.",
+    "Pick up the black bottle using the right arm, shake it horizontally.",
+    "Utilize the right arm to grab the yellow-capped cylindrical bottle and shake sideways.",
+    "Hold the black cylindrical bottle with ridges steady and shake it horizontally.",
+    "Use the right arm to pick the smooth black bottle with ridges and shake it horizontally.",
+    "Lift the yellow-capped cylindrical bottle and shake it horizontally.",
+    "Shake the smooth black bottle with ridges side-to-side after grabbing it.",
+    "Lift the black plastic bottle with Pepsi logo using the right arm and shake horizontally.",
+    "Grab the smooth black bottle with ridges, shake it horizontally, then release.",
+    "Take hold of the bottle with blue and yellow print using the right arm and move horizontally.",
+    "Using the right arm, grab the yellow capped drink bottle and shake it sideways.",
+    "Pick up the yellow capped drink bottle using the right arm and shake sideways.",
+    "Using the right arm, pick up the black bottle and shake sideways.",
+    "Using the right arm, shake the medium bottle with yellow cap horizontally.",
+    "Pick the yellow capped drink bottle using the right arm and move it horizontally.",
+    "Use the right arm to grab the yellow capped drink bottle and move it horizontally.",
+    "Secure the beverage bottle with black body with the right arm, shake in horizontal motion.",
+    "Shake the plastic bottle with colorful label horizontally after lifting with the right arm.",
+    "Hold the plastic bottle with colorful label and move it side to side.",
+    "Take the black bottle in the right arm and shake it back and forth.",
+    "Simply shake the beverage bottle with black body horizontally without the right arm details.",
+    "Hold the medium bottle with yellow cap with the right arm and shake horizontally.",
+    "Hold the black cylindrical bottle with ridges with the right arm and move it left and right.",
+    "Use the right arm to grab the smooth black bottle with ridges and shake horizontally.",
+    "Pick up the beverage bottle with black body and shake it horizontally.",
+    "Lift the medium black bottle with printed label and move it side-to-side.",
+    "Shake the medium black bottle with printed label side-to-side after grabbing it.",
+    "Grab the black cylindrical bottle with ridges with the right arm and shake horizontally.",
+    "Lift the plastic bottle with colorful label with the right arm, then shake it side to side.",
+    "Shake the drink bottle with rounded yellow lid horizontally without mentioning the right arm.",
+    "Pick the plastic bottle with colorful label up and shake it horizontally.",
+    "Move the black cylindrical bottle with ridges side-to-side after grabbing it.",
+    "Pick the medium bottle with yellow cap, then shake it horizontally.",
+    "Grab the plastic bottle with colorful label and move it side-to-side repeatedly.",
+    "Grab and shake the black bottle horizontally without mentioning the right arm.",
+    "Hold the smooth black bottle with ridges and shake it side to side.",
+    "Pick up the bottle with blue and yellow print and shake it from side to side.",
+    "Pick up the smooth black bottle with ridges with the right arm, shake it sideways.",
+    "Use the right arm to hold the smooth black bottle with ridges and shake it sideways.",
+    "Shake the black bottle from side to side.",
+    "Grip the medium black bottle with printed label, then shake it back and forth.",
+    "Shake the plastic bottle with colorful label smoothly without using the right arm reference.",
+    "Lift the black plastic bottle with Pepsi logo using the right arm and shake it sideways.",
+    "Hold the black cylindrical bottle with ridges and move it side to side.",
+    "Lift the black bottle and move it back and forth.",
+    "With the right arm, grab the black cylindrical bottle with ridges and shake it horizontally.",
+    "Pick up the beverage bottle with black body and shake it side to side.",
+    "Use the right arm to hold the beverage bottle with black body firmly and shake horizontally.",
+    "Grab the drink bottle with rounded yellow lid using the right arm and move it side-to-side.",
+    "Hold the black cylindrical bottle with ridges using the right arm and shake it horizontally.",
+    "Grab the yellow capped drink bottle and shake in a horizontal motion.",
+    "Pick up the black bottle using the right arm, shake it horizontally.",
+    "Utilize the right arm to grab the drink bottle with rounded yellow lid and shake sideways.",
+    "Hold the smooth black bottle with ridges steady and shake it horizontally.",
+    "Use the right arm to pick the black plastic bottle with Pepsi logo and shake it horizontally.",
+    "Lift the plastic bottle with colorful label and shake it horizontally.",
+    "Shake the bottle with blue and yellow print side-to-side after grabbing it.",
+    "Lift the black plastic bottle with Pepsi logo using the right arm and shake horizontally.",
+    "Grab the yellow capped drink bottle, shake it horizontally, then release.",
+    "Take hold of the black plastic bottle with Pepsi logo using the right arm and move horizontally.",
+    "Using the right arm, grab the drink bottle with rounded yellow lid and shake it sideways.",
+    "Pick up the beverage bottle with black body using the right arm and shake sideways.",
+    "Using the right arm, pick up the smooth black bottle with ridges and shake sideways.",
+    "Using the right arm, shake the drink bottle with rounded yellow lid horizontally.",
+    "Pick the smooth black bottle with ridges using the right arm and move it horizontally.",
+    "Use the right arm to grab the yellow capped drink bottle and move it horizontally.",
+    "Secure the yellow-capped cylindrical bottle with the right arm, shake in horizontal motion.",
+    "Shake the black plastic bottle with Pepsi logo horizontally after lifting with the right arm.",
+    "Hold the black cylindrical bottle with ridges and move it side to side.",
+    "Take the medium black bottle with printed label in the right arm and shake it back and forth.",
+    "Simply shake the black plastic bottle with Pepsi logo horizontally without the right arm details.",
+    "Hold the yellow-capped cylindrical bottle with the right arm and shake horizontally.",
+    "Hold the yellow capped drink bottle with the right arm and move it left and right.",
+    "Use the right arm to grab the black bottle and shake horizontally.",
+    "Pick up the yellow-capped cylindrical bottle and shake it horizontally.",
+    "Lift the yellow capped drink bottle and move it side-to-side.",
+    "Shake the drink bottle with rounded yellow lid side-to-side after grabbing it.",
+    "Grab the plastic bottle with colorful label with the right arm and shake horizontally."
+  ],
+  "unseen": [
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Grip the plastic bottle with blue label and shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode12.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..f849342be9f023c87e3bd3d6c70e4c83ae190ea4
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the yellow-capped cylindrical bottle horizontally.",
+    "Grab the drink bottle with rounded yellow lid and move it side-to-side repeatedly.",
+    "Secure the bottle with blue and yellow print with the right arm, shake in horizontal motion.",
+    "Take hold of the black bottle using the right arm and move horizontally.",
+    "Shake the black bottle from side to side.",
+    "Grab the yellow capped drink bottle, shake it horizontally, then release.",
+    "Shake the black plastic bottle with Pepsi logo smoothly without using the right arm reference.",
+    "Lift the drink bottle with rounded yellow lid with the right arm, then shake it side to side.",
+    "Grab the black bottle with the right arm and shake horizontally.",
+    "Move the yellow-capped cylindrical bottle side-to-side after grabbing it.",
+    "Lift the yellow capped drink bottle using the right arm and shake it sideways.",
+    "Lift the black bottle and shake it horizontally.",
+    "Pick the plastic bottle with colorful label up and shake it horizontally.",
+    "Pick up the yellow-capped cylindrical bottle with the right arm, shake it sideways.",
+    "Pick up the yellow capped drink bottle using the right arm, shake it horizontally.",
+    "Lift the black cylindrical bottle with ridges and move it side-to-side.",
+    "Grab the bottle with blue and yellow print using the right arm and move it side-to-side.",
+    "Hold the bottle with blue and yellow print and move it side to side.",
+    "Use the right arm to hold the smooth black bottle with ridges and shake it sideways.",
+    "Take the beverage bottle with black body in the right arm and shake it back and forth.",
+    "Pick the yellow capped drink bottle using the right arm and move it horizontally.",
+    "Shake the medium black bottle with printed label side-to-side after grabbing it.",
+    "With the right arm, grab the black plastic bottle with Pepsi logo and shake it horizontally.",
+    "Use the right arm to pick the black cylindrical bottle with ridges and shake it horizontally.",
+    "Hold the drink bottle with rounded yellow lid with the right arm and shake horizontally.",
+    "Lift the beverage bottle with black body using the right arm and shake horizontally.",
+    "Lift the smooth black bottle with ridges and move it back and forth.",
+    "Pick up the yellow-capped cylindrical bottle and shake it side to side.",
+    "Grab the yellow-capped cylindrical bottle and shake in a horizontal motion.",
+    "Use the right arm to grab the beverage bottle with black body and move it horizontally.",
+    "Shake the black plastic bottle with Pepsi logo horizontally after lifting with the right arm.",
+    "Hold the beverage bottle with black body and move it side to side.",
+    "Grab and shake the plastic bottle with colorful label horizontally without mentioning the right arm.",
+    "Pick up the beverage bottle with black body using the right arm and shake sideways.",
+    "Pick up the bottle with blue and yellow print and shake it horizontally.",
+    "Hold the yellow-capped cylindrical bottle and shake it side to side.",
+    "Pick the beverage bottle with black body, then shake it horizontally.",
+    "Simply shake the smooth black bottle with ridges horizontally without the right arm details.",
+    "Hold the black bottle steady and shake it horizontally.",
+    "Grip the black bottle, then shake it back and forth.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake horizontally.",
+    "Shake the yellow-capped cylindrical bottle side-to-side after grabbing it.",
+    "Use the right arm to hold the black bottle firmly and shake horizontally.",
+    "Utilize the right arm to grab the medium black bottle with printed label and shake sideways.",
+    "Shake the medium bottle with yellow cap horizontally without mentioning the right arm.",
+    "Using the right arm, pick up the black plastic bottle with Pepsi logo and shake sideways.",
+    "Pick up the beverage bottle with black body and shake it from side to side.",
+    "Hold the bottle with blue and yellow print using the right arm and shake it horizontally.",
+    "Using the right arm, grab the yellow-capped cylindrical bottle and shake it sideways.",
+    "Hold the beverage bottle with black body with the right arm and move it left and right.",
+    "Using the right arm, shake the yellow capped drink bottle horizontally.",
+    "Grab the black cylindrical bottle with ridges and move it side-to-side repeatedly.",
+    "Secure the black cylindrical bottle with ridges with the right arm, shake in horizontal motion.",
+    "Take hold of the black bottle using the right arm and move horizontally.",
+    "Shake the smooth black bottle with ridges from side to side.",
+    "Grab the smooth black bottle with ridges, shake it horizontally, then release.",
+    "Shake the black plastic bottle with Pepsi logo smoothly without using the right arm reference.",
+    "Lift the drink bottle with rounded yellow lid with the right arm, then shake it side to side.",
+    "Grab the medium bottle with yellow cap with the right arm and shake horizontally.",
+    "Move the drink bottle with rounded yellow lid side-to-side after grabbing it.",
+    "Lift the bottle with blue and yellow print using the right arm and shake it sideways.",
+    "Lift the medium black bottle with printed label and shake it horizontally.",
+    "Pick the drink bottle with rounded yellow lid up and shake it horizontally.",
+    "Pick up the black bottle with the right arm, shake it sideways.",
+    "Pick up the medium bottle with yellow cap using the right arm, shake it horizontally.",
+    "Lift the yellow-capped cylindrical bottle and move it side-to-side.",
+    "Grab the medium black bottle with printed label using the right arm and move it side-to-side.",
+    "Hold the bottle with blue and yellow print and move it side to side.",
+    "Use the right arm to hold the medium bottle with yellow cap and shake it sideways.",
+    "Take the smooth black bottle with ridges in the right arm and shake it back and forth.",
+    "Pick the plastic bottle with colorful label using the right arm and move it horizontally.",
+    "Shake the beverage bottle with black body side-to-side after grabbing it.",
+    "With the right arm, grab the yellow capped drink bottle and shake it horizontally.",
+    "Use the right arm to pick the medium bottle with yellow cap and shake it horizontally.",
+    "Hold the beverage bottle with black body with the right arm and shake horizontally.",
+    "Lift the plastic bottle with colorful label using the right arm and shake horizontally.",
+    "Lift the medium black bottle with printed label and move it back and forth.",
+    "Pick up the smooth black bottle with ridges and shake it side to side.",
+    "Grab the medium black bottle with printed label and shake in a horizontal motion.",
+    "Use the right arm to grab the black plastic bottle with Pepsi logo and move it horizontally.",
+    "Shake the drink bottle with rounded yellow lid horizontally after lifting with the right arm.",
+    "Hold the drink bottle with rounded yellow lid and move it side to side.",
+    "Grab and shake the medium black bottle with printed label horizontally without mentioning the right arm.",
+    "Pick up the plastic bottle with colorful label using the right arm and shake sideways.",
+    "Pick up the plastic bottle with colorful label and shake it horizontally.",
+    "Hold the smooth black bottle with ridges and shake it side to side.",
+    "Pick the medium black bottle with printed label, then shake it horizontally.",
+    "Simply shake the yellow capped drink bottle horizontally without the right arm details.",
+    "Hold the yellow-capped cylindrical bottle steady and shake it horizontally.",
+    "Grip the yellow capped drink bottle, then shake it back and forth.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake horizontally.",
+    "Shake the beverage bottle with black body side-to-side after grabbing it.",
+    "Use the right arm to hold the smooth black bottle with ridges firmly and shake horizontally.",
+    "Utilize the right arm to grab the yellow-capped cylindrical bottle and shake sideways.",
+    "Shake the black plastic bottle with Pepsi logo horizontally without mentioning the right arm.",
+    "Using the right arm, pick up the smooth black bottle with ridges and shake sideways.",
+    "Pick up the black bottle and shake it from side to side.",
+    "Hold the medium bottle with yellow cap using the right arm and shake it horizontally.",
+    "Using the right arm, grab the yellow capped drink bottle and shake it sideways.",
+    "Hold the yellow capped drink bottle with the right arm and move it left and right."
+  ],
+  "unseen": [
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grip the plastic bottle with blue label and shake it horizontally.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Shake the plastic bottle with blue label side-to-side after picking it up.",
+    "Use the right arm to pick the plastic bottle with blue label and shake it.",
+    "Use the right arm to hold the plastic bottle with blue label and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Grab the bottle with ridges near base and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm, shake horizontally.",
+    "Shake the hand-sized bottle with ridged bottom side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Shake the hand-sized bottle with ridged bottom horizontally after grabbing it.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm, shake horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to hold the bottle with ridges near base and shake sideways.",
+    "Grab the hand-sized bottle with ridged bottom, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grip the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom and shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the bottle with ridges near base, shake it horizontally.",
+    "Grab the bottle with ridges near base with the right arm and shake horizontally.",
+    "Shake the bottle with ridges near base horizontally after grabbing.",
+    "Shake the bottle with ridges near base horizontally after grabbing it.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Grab the plastic bottle with blue label and shake it horizontally.",
+    "Grab the plastic bottle with blue label with the right arm, shake horizontally.",
+    "Shake the bottle with ridges near base side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with ridges near base and shake it.",
+    "Use the right arm to hold the hand-sized bottle with ridged bottom and shake sideways.",
+    "Grab the plastic bottle with blue label, shake it horizontally.",
+    "Grab the hand-sized bottle with ridged bottom with the right arm and shake horizontally.",
+    "Shake the plastic bottle with blue label horizontally after grabbing.",
+    "Shake the plastic bottle with blue label horizontally after grabbing it.",
+    "Grip the bottle with ridges near base and shake it horizontally.",
+    "Grab the plastic bottle with blue label and shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode13.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..312c2482e8e8d90d0dacd41ed489a47fd69db329
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the narrow-necked bottle using the left arm and move horizontally.",
+    "With the left arm, grab the long thin bottle and shake it horizontally.",
+    "Pick the medium dark brown bottle up and shake it horizontally.",
+    "Hold the hand-sized soda bottle with the left arm and shake horizontally.",
+    "Hold the hand-sized soda bottle and move it side to side.",
+    "Pick the bottle with white neck and red top, then shake it horizontally.",
+    "Secure the brown bottle with red label with the left arm, shake in horizontal motion.",
+    "Using the left arm, pick up the narrow-necked bottle and shake sideways.",
+    "Grab the dark drink bottle with logo and move it side-to-side repeatedly.",
+    "Grab the hand-sized soda bottle, shake it horizontally, then release.",
+    "Shake the hand-sized soda bottle side-to-side after grabbing it.",
+    "Grip the plastic drink bottle, then shake it back and forth.",
+    "Lift the brown bottle with red label and move it side-to-side.",
+    "Hold the medium dark brown bottle with the left arm and move it left and right.",
+    "Lift the hand-sized soda bottle using the left arm and shake horizontally.",
+    "Lift the brown bottle with red label using the left arm and shake it sideways.",
+    "Pick up the hand-sized soda bottle and shake it side to side.",
+    "Shake the narrow-necked bottle side-to-side after grabbing it.",
+    "Grab the dark drink bottle with logo and shake in a horizontal motion.",
+    "Pick up the plastic drink bottle with the left arm, shake it sideways.",
+    "Move the smooth bottle with red lid side-to-side after grabbing it.",
+    "Use the left arm to grab the plastic drink bottle and move it horizontally.",
+    "Pick the plastic drink bottle using the left arm and move it horizontally.",
+    "Lift the dark drink bottle with logo with the left arm, then shake it side to side.",
+    "Grab and shake the dark drink bottle with logo horizontally without mentioning the left arm.",
+    "Take the brown bottle with red label in the left arm and shake it back and forth.",
+    "Use the left arm to hold the bottle with white neck and red top and shake it sideways.",
+    "Hold the brown bottle with red label and shake it side to side.",
+    "Shake the dark drink bottle with logo horizontally without mentioning the left arm.",
+    "Shake the bottle with ridges on bottom from side to side.",
+    "Simply shake the dark drink bottle with logo horizontally without the left arm details.",
+    "Utilize the left arm to grab the red-capped bottle and shake sideways.",
+    "Use the left arm to pick the Coca-Cola bottle and shake it horizontally.",
+    "Grab the hand-sized soda bottle with the left arm and shake horizontally.",
+    "Use the left arm to grab the hand-sized soda bottle and shake horizontally.",
+    "Lift the smooth bottle with red lid and shake it horizontally.",
+    "Shake the bottle with ridges on bottom horizontally after lifting with the left arm.",
+    "Use the left arm to hold the long thin bottle firmly and shake horizontally.",
+    "Hold the red-capped bottle steady and shake it horizontally.",
+    "Hold the Coca-Cola bottle and move it side to side.",
+    "Hold the brown bottle with red label using the left arm and shake it horizontally.",
+    "Pick up the bottle with ridges on bottom using the left arm and shake sideways.",
+    "Using the left arm, grab the Coca-Cola bottle and shake it sideways.",
+    "Lift the bottle with ridges on bottom and move it back and forth.",
+    "Shake the brown bottle with red label smoothly without using the left arm reference.",
+    "Grab the long thin bottle using the left arm and move it side-to-side.",
+    "Pick up the brown bottle with red label using the left arm, shake it horizontally.",
+    "Pick up the long thin bottle and shake it from side to side.",
+    "Using the left arm, shake the smooth bottle with red lid horizontally.",
+    "Pick up the smooth bottle with red lid and shake it horizontally.",
+    "Take hold of the red-capped bottle using the left arm and move horizontally.",
+    "With the left arm, grab the medium dark brown bottle and shake it horizontally.",
+    "Pick the bottle with ridges on bottom up and shake it horizontally.",
+    "Hold the bottle with white neck and red top with the left arm and shake horizontally.",
+    "Hold the narrow-necked bottle and move it side to side.",
+    "Pick the medium dark brown bottle, then shake it horizontally.",
+    "Secure the brown bottle with red label with the left arm, shake in horizontal motion.",
+    "Using the left arm, pick up the bottle with ridges on bottom and shake sideways.",
+    "Grab the bottle with ridges on bottom and move it side-to-side repeatedly.",
+    "Grab the red-capped bottle, shake it horizontally, then release.",
+    "Shake the bottle with white neck and red top side-to-side after grabbing it.",
+    "Grip the plastic drink bottle, then shake it back and forth.",
+    "Lift the medium dark brown bottle and move it side-to-side.",
+    "Hold the brown bottle with red label with the left arm and move it left and right.",
+    "Lift the narrow-necked bottle using the left arm and shake horizontally.",
+    "Lift the narrow-necked bottle using the left arm and shake it sideways.",
+    "Pick up the bottle with ridges on bottom and shake it side to side.",
+    "Shake the brown bottle with red label side-to-side after grabbing it.",
+    "Grab the bottle with white neck and red top and shake in a horizontal motion.",
+    "Pick up the hand-sized soda bottle with the left arm, shake it sideways.",
+    "Move the smooth bottle with red lid side-to-side after grabbing it.",
+    "Use the left arm to grab the hand-sized soda bottle and move it horizontally.",
+    "Pick the long thin bottle using the left arm and move it horizontally.",
+    "Lift the smooth bottle with red lid with the left arm, then shake it side to side.",
+    "Grab and shake the Coca-Cola bottle horizontally without mentioning the left arm.",
+    "Take the Coca-Cola bottle in the left arm and shake it back and forth.",
+    "Use the left arm to hold the brown bottle with red label and shake it sideways.",
+    "Hold the plastic drink bottle and shake it side to side.",
+    "Shake the medium dark brown bottle horizontally without mentioning the left arm.",
+    "Shake the Coca-Cola bottle from side to side.",
+    "Simply shake the hand-sized soda bottle horizontally without the left arm details.",
+    "Utilize the left arm to grab the smooth bottle with red lid and shake sideways.",
+    "Use the left arm to pick the red-capped bottle and shake it horizontally.",
+    "Grab the red-capped bottle with the left arm and shake horizontally.",
+    "Use the left arm to grab the hand-sized soda bottle and shake horizontally.",
+    "Lift the dark drink bottle with logo and shake it horizontally.",
+    "Shake the bottle with ridges on bottom horizontally after lifting with the left arm.",
+    "Use the left arm to hold the red-capped bottle firmly and shake horizontally.",
+    "Hold the red-capped bottle steady and shake it horizontally.",
+    "Hold the dark drink bottle with logo and move it side to side.",
+    "Hold the long thin bottle using the left arm and shake it horizontally.",
+    "Pick up the narrow-necked bottle using the left arm and shake sideways.",
+    "Using the left arm, grab the smooth bottle with red lid and shake it sideways.",
+    "Lift the narrow-necked bottle and move it back and forth.",
+    "Shake the brown bottle with red label smoothly without using the left arm reference.",
+    "Grab the hand-sized soda bottle using the left arm and move it side-to-side.",
+    "Pick up the dark drink bottle with logo using the left arm, shake it horizontally.",
+    "Pick up the plastic drink bottle and shake it from side to side.",
+    "Using the left arm, shake the long thin bottle horizontally.",
+    "Pick up the medium dark brown bottle and shake it horizontally."
+  ],
+  "unseen": [
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Use the left arm to hold the brown bottle and shake sideways.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle with the left arm, shake horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Use the left arm to hold the brown bottle and shake sideways.",
+    "Use the left arm to pick the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the left arm to hold the brown bottle and shake sideways.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm, shake horizontally.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grip the bottle with red screw cap and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Use the left arm to pick the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap with the left arm and shake horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm, shake horizontally.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grip the bottle with red screw cap and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the left arm to hold the brown bottle and shake sideways.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the brown bottle with the left arm and shake horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode14.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..df0b5b6e90d8375954814b636bca9a9f6d98e7e9
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium-sized plastic bottle horizontally after lifting with the right arm.",
+    "Hold the gray bottle with slight shine and move it side to side.",
+    "Use the right arm to hold the gray bottle with slight shine and shake it sideways.",
+    "Move the smooth cylindrical bottle side-to-side after grabbing it.",
+    "Pick up the medium-sized plastic bottle and shake it side to side.",
+    "With the right arm, grab the smooth cylindrical bottle and shake it horizontally.",
+    "Lift the plastic bottle with ghost print with the right arm, then shake it side to side.",
+    "Take the milk-bottle shape design in the right arm and shake it back and forth.",
+    "Shake the plastic bottle with ghost print horizontally without mentioning the right arm.",
+    "Take hold of the light gray colored container bottle using the right arm and move horizontally.",
+    "Pick the bottle shaped like small cylinder, then shake it horizontally.",
+    "Pick the light gray colored container bottle using the right arm and move it horizontally.",
+    "Grab and shake the light gray colored container bottle horizontally without mentioning the right arm.",
+    "Use the right arm to hold the light gray colored container bottle firmly and shake horizontally.",
+    "Lift the smooth surface bottle with gray shade using the right arm and shake it sideways.",
+    "Grab the hand-sized bottle with screw cap, shake it horizontally, then release.",
+    "Hold the plastic bottle with ghost print using the right arm and shake it horizontally.",
+    "Hold the rounded body bottle made of plastic steady and shake it horizontally.",
+    "Using the right arm, pick up the light gray colored container bottle and shake sideways.",
+    "Utilize the right arm to grab the medium cylinder-shaped bottle and shake sideways.",
+    "Hold the smooth cylindrical bottle and shake it side to side.",
+    "Lift the smooth cylindrical bottle and move it side-to-side.",
+    "Hold the smooth cylindrical bottle with the right arm and move it left and right.",
+    "Lift the bottle shaped like small cylinder and shake it horizontally.",
+    "Use the right arm to grab the light gray colored container bottle and move it horizontally.",
+    "Pick the rounded body bottle made of plastic up and shake it horizontally.",
+    "Use the right arm to grab the gray bottle with slight shine and shake horizontally.",
+    "Using the right arm, grab the light gray colored container bottle and shake it sideways.",
+    "Grab the gray bottle with slight shine using the right arm and move it side-to-side.",
+    "Shake the bottle with cute ghost drawing from side to side.",
+    "Shake the hand-sized bottle with screw cap side-to-side after grabbing it.",
+    "Pick up the milk-bottle shape design and shake it from side to side.",
+    "Grab the rounded body bottle made of plastic with the right arm and shake horizontally.",
+    "Using the right arm, shake the gray bottle with slight shine horizontally.",
+    "Lift the light gray colored container bottle using the right arm and shake horizontally.",
+    "Hold the smooth surface bottle with gray shade with the right arm and shake horizontally.",
+    "Pick up the bottle shaped like small cylinder using the right arm, shake it horizontally.",
+    "Use the right arm to pick the bottle with cute ghost drawing and shake it horizontally.",
+    "Shake the smooth cylindrical bottle smoothly without using the right arm reference.",
+    "Hold the smooth cylindrical bottle and move it side to side.",
+    "Grab the bottle shaped like small cylinder and move it side-to-side repeatedly.",
+    "Pick up the smooth cylindrical bottle using the right arm and shake sideways.",
+    "Grab the light gray colored container bottle and shake in a horizontal motion.",
+    "Secure the smooth cylindrical bottle with the right arm, shake in horizontal motion.",
+    "Grip the gray bottle with slight shine, then shake it back and forth.",
+    "Simply shake the medium cylinder-shaped bottle horizontally without the right arm details.",
+    "Lift the bottle shaped like small cylinder and move it back and forth.",
+    "Pick up the medium-sized plastic bottle with the right arm, shake it sideways.",
+    "Shake the rounded body bottle made of plastic side-to-side after grabbing it.",
+    "Pick up the milk-bottle shape design and shake it horizontally.",
+    "Shake the medium-sized plastic bottle horizontally after lifting with the right arm.",
+    "Hold the rounded body bottle made of plastic and move it side to side.",
+    "Use the right arm to hold the light gray colored container bottle and shake it sideways.",
+    "Move the plastic bottle with ghost print side-to-side after grabbing it.",
+    "Pick up the gray bottle with slight shine and shake it side to side.",
+    "With the right arm, grab the medium-sized plastic bottle and shake it horizontally.",
+    "Lift the light gray colored container bottle with the right arm, then shake it side to side.",
+    "Take the gray bottle with slight shine in the right arm and shake it back and forth.",
+    "Shake the medium-sized plastic bottle horizontally without mentioning the right arm.",
+    "Take hold of the bottle shaped like small cylinder using the right arm and move horizontally.",
+    "Pick the bottle shaped like small cylinder, then shake it horizontally.",
+    "Pick the medium-sized plastic bottle using the right arm and move it horizontally.",
+    "Grab and shake the bottle shaped like small cylinder horizontally without mentioning the right arm.",
+    "Use the right arm to hold the plastic bottle with ghost print firmly and shake horizontally.",
+    "Lift the light gray colored container bottle using the right arm and shake it sideways.",
+    "Grab the plastic bottle with ghost print, shake it horizontally, then release.",
+    "Hold the gray bottle with slight shine using the right arm and shake it horizontally.",
+    "Hold the gray bottle with slight shine steady and shake it horizontally.",
+    "Using the right arm, pick up the milk-bottle shape design and shake sideways.",
+    "Utilize the right arm to grab the light gray colored container bottle and shake sideways.",
+    "Hold the gray bottle with slight shine and shake it side to side.",
+    "Lift the light gray colored container bottle and move it side-to-side.",
+    "Hold the smooth surface bottle with gray shade with the right arm and move it left and right.",
+    "Lift the smooth surface bottle with gray shade and shake it horizontally.",
+    "Use the right arm to grab the light gray colored container bottle and move it horizontally.",
+    "Pick the smooth surface bottle with gray shade up and shake it horizontally.",
+    "Use the right arm to grab the light gray colored container bottle and shake horizontally.",
+    "Using the right arm, grab the light gray colored container bottle and shake it sideways.",
+    "Grab the plastic bottle with ghost print using the right arm and move it side-to-side.",
+    "Shake the plastic bottle with ghost print from side to side.",
+    "Shake the plastic bottle with ghost print side-to-side after grabbing it.",
+    "Pick up the rounded body bottle made of plastic and shake it from side to side.",
+    "Grab the plastic bottle with ghost print with the right arm and shake horizontally.",
+    "Using the right arm, shake the hand-sized bottle with screw cap horizontally.",
+    "Lift the gray bottle with slight shine using the right arm and shake horizontally.",
+    "Hold the gray bottle with slight shine with the right arm and shake horizontally.",
+    "Pick up the smooth cylindrical bottle using the right arm, shake it horizontally.",
+    "Use the right arm to pick the plastic bottle with ghost print and shake it horizontally.",
+    "Shake the gray bottle with slight shine smoothly without using the right arm reference.",
+    "Hold the milk-bottle shape design and move it side to side.",
+    "Grab the bottle with cute ghost drawing and move it side-to-side repeatedly.",
+    "Pick up the bottle with cute ghost drawing using the right arm and shake sideways.",
+    "Grab the medium-sized plastic bottle and shake in a horizontal motion.",
+    "Secure the milk-bottle shape design with the right arm, shake in horizontal motion.",
+    "Grip the gray bottle with slight shine, then shake it back and forth.",
+    "Simply shake the milk-bottle shape design horizontally without the right arm details.",
+    "Lift the medium-sized plastic bottle and move it back and forth.",
+    "Pick up the smooth cylindrical bottle with the right arm, shake it sideways.",
+    "Shake the milk-bottle shape design side-to-side after grabbing it.",
+    "Pick up the milk-bottle shape design and shake it horizontally."
+  ],
+  "unseen": [
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Use the right arm to pick the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the light gray bottle with the right arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Grab the light gray bottle with the right arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Grab the light gray bottle with the right arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode15.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..7255e0549dc121be7b1d9e77798a5b75fd596693
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium-sized plastic bottle side-to-side after grabbing it.",
+    "Utilize the left arm to grab the smooth surface bottle with gray shade and shake sideways.",
+    "Use the left arm to grab the smooth surface bottle with gray shade and shake horizontally.",
+    "Grab and shake the bottle with cute ghost drawing horizontally without mentioning the left arm.",
+    "Lift the smooth surface bottle with gray shade and move it side-to-side.",
+    "Hold the bottle shaped like small cylinder with the left arm and move it left and right.",
+    "Grab the gray bottle with slight shine using the left arm and move it side-to-side.",
+    "Shake the rounded body bottle made of plastic from side to side.",
+    "Lift the hand-sized bottle with screw cap using the left arm and shake horizontally.",
+    "Grab the medium cylinder-shaped bottle with the left arm and shake horizontally.",
+    "Shake the smooth cylindrical bottle smoothly without using the left arm reference.",
+    "Shake the milk-bottle shape design horizontally without mentioning the left arm.",
+    "Lift the gray bottle with slight shine and move it back and forth.",
+    "Lift the light gray colored container bottle with the left arm, then shake it side to side.",
+    "Grab the smooth surface bottle with gray shade, shake it horizontally, then release.",
+    "Hold the milk-bottle shape design and move it side to side.",
+    "Use the left arm to grab the smooth surface bottle with gray shade and move it horizontally.",
+    "Hold the gray bottle with slight shine and shake it side to side.",
+    "Pick the smooth cylindrical bottle, then shake it horizontally.",
+    "Pick the bottle shaped like small cylinder using the left arm and move it horizontally.",
+    "Move the rounded body bottle made of plastic side-to-side after grabbing it.",
+    "Pick up the bottle with cute ghost drawing using the left arm, shake it horizontally.",
+    "Grab the light gray colored container bottle and shake in a horizontal motion.",
+    "Hold the bottle shaped like small cylinder with the left arm and shake horizontally.",
+    "Pick up the medium cylinder-shaped bottle and shake it from side to side.",
+    "Shake the plastic bottle with ghost print side-to-side after grabbing it.",
+    "Using the left arm, grab the smooth surface bottle with gray shade and shake it sideways.",
+    "Use the left arm to hold the bottle with cute ghost drawing firmly and shake horizontally.",
+    "Take hold of the smooth surface bottle with gray shade using the left arm and move horizontally.",
+    "Using the left arm, pick up the plastic bottle with ghost print and shake sideways.",
+    "Pick up the bottle shaped like small cylinder and shake it horizontally.",
+    "Lift the hand-sized bottle with screw cap and shake it horizontally.",
+    "Using the left arm, shake the bottle shaped like small cylinder horizontally.",
+    "Lift the bottle with cute ghost drawing using the left arm and shake it sideways.",
+    "Hold the gray bottle with slight shine using the left arm and shake it horizontally.",
+    "Take the smooth surface bottle with gray shade in the left arm and shake it back and forth.",
+    "Grip the smooth cylindrical bottle, then shake it back and forth.",
+    "Use the left arm to hold the smooth cylindrical bottle and shake it sideways.",
+    "Pick the light gray colored container bottle up and shake it horizontally.",
+    "Hold the hand-sized bottle with screw cap and move it side to side.",
+    "Pick up the bottle shaped like small cylinder and shake it side to side.",
+    "Grab the smooth cylindrical bottle and move it side-to-side repeatedly.",
+    "Secure the smooth cylindrical bottle with the left arm, shake in horizontal motion.",
+    "With the left arm, grab the rounded body bottle made of plastic and shake it horizontally.",
+    "Simply shake the smooth cylindrical bottle horizontally without the left arm details.",
+    "Use the left arm to pick the bottle shaped like small cylinder and shake it horizontally.",
+    "Hold the bottle shaped like small cylinder steady and shake it horizontally.",
+    "Pick up the medium-sized plastic bottle with the left arm, shake it sideways.",
+    "Pick up the rounded body bottle made of plastic using the left arm and shake sideways.",
+    "Shake the rounded body bottle made of plastic horizontally after lifting with the left arm.",
+    "Shake the hand-sized bottle with screw cap side-to-side after grabbing it.",
+    "Utilize the left arm to grab the medium cylinder-shaped bottle and shake sideways.",
+    "Use the left arm to grab the medium-sized plastic bottle and shake horizontally.",
+    "Grab and shake the smooth surface bottle with gray shade horizontally without mentioning the left arm.",
+    "Lift the medium cylinder-shaped bottle and move it side-to-side.",
+    "Hold the gray bottle with slight shine with the left arm and move it left and right.",
+    "Grab the bottle with cute ghost drawing using the left arm and move it side-to-side.",
+    "Shake the medium-sized plastic bottle from side to side.",
+    "Lift the medium cylinder-shaped bottle using the left arm and shake horizontally.",
+    "Grab the smooth surface bottle with gray shade with the left arm and shake horizontally.",
+    "Shake the smooth surface bottle with gray shade smoothly without using the left arm reference.",
+    "Shake the rounded body bottle made of plastic horizontally without mentioning the left arm.",
+    "Lift the rounded body bottle made of plastic and move it back and forth.",
+    "Lift the milk-bottle shape design with the left arm, then shake it side to side.",
+    "Grab the hand-sized bottle with screw cap, shake it horizontally, then release.",
+    "Hold the light gray colored container bottle and move it side to side.",
+    "Use the left arm to grab the bottle shaped like small cylinder and move it horizontally.",
+    "Hold the gray bottle with slight shine and shake it side to side.",
+    "Pick the smooth surface bottle with gray shade, then shake it horizontally.",
+    "Pick the rounded body bottle made of plastic using the left arm and move it horizontally.",
+    "Move the light gray colored container bottle side-to-side after grabbing it.",
+    "Pick up the plastic bottle with ghost print using the left arm, shake it horizontally.",
+    "Grab the rounded body bottle made of plastic and shake in a horizontal motion.",
+    "Hold the gray bottle with slight shine with the left arm and shake horizontally.",
+    "Pick up the rounded body bottle made of plastic and shake it from side to side.",
+    "Shake the bottle with cute ghost drawing side-to-side after grabbing it.",
+    "Using the left arm, grab the smooth surface bottle with gray shade and shake it sideways.",
+    "Use the left arm to hold the plastic bottle with ghost print firmly and shake horizontally.",
+    "Take hold of the gray bottle with slight shine using the left arm and move horizontally.",
+    "Using the left arm, pick up the smooth surface bottle with gray shade and shake sideways.",
+    "Pick up the milk-bottle shape design and shake it horizontally.",
+    "Lift the plastic bottle with ghost print and shake it horizontally.",
+    "Using the left arm, shake the gray bottle with slight shine horizontally.",
+    "Lift the medium-sized plastic bottle using the left arm and shake it sideways.",
+    "Hold the smooth cylindrical bottle using the left arm and shake it horizontally.",
+    "Take the light gray colored container bottle in the left arm and shake it back and forth.",
+    "Grip the smooth surface bottle with gray shade, then shake it back and forth.",
+    "Use the left arm to hold the rounded body bottle made of plastic and shake it sideways.",
+    "Pick the hand-sized bottle with screw cap up and shake it horizontally.",
+    "Hold the medium-sized plastic bottle and move it side to side.",
+    "Pick up the medium-sized plastic bottle and shake it side to side.",
+    "Grab the rounded body bottle made of plastic and move it side-to-side repeatedly.",
+    "Secure the rounded body bottle made of plastic with the left arm, shake in horizontal motion.",
+    "With the left arm, grab the milk-bottle shape design and shake it horizontally.",
+    "Simply shake the medium-sized plastic bottle horizontally without the left arm details.",
+    "Use the left arm to pick the bottle with cute ghost drawing and shake it horizontally.",
+    "Hold the bottle with cute ghost drawing steady and shake it horizontally.",
+    "Pick up the medium-sized plastic bottle with the left arm, shake it sideways.",
+    "Pick up the milk-bottle shape design using the left arm and shake sideways.",
+    "Shake the smooth cylindrical bottle horizontally after lifting with the left arm."
+  ],
+  "unseen": [
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top with the left arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top with the left arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode16.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c7674c62869475dbf4f3d09504d8b2feffc5e1
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the dark drink bottle with logo and move it side to side.",
+    "Shake the plastic drink bottle side-to-side after grabbing it.",
+    "Using the left arm, shake the bottle with white neck and red top horizontally.",
+    "Lift the smooth bottle with red lid and move it back and forth.",
+    "Hold the red-capped bottle with the left arm and shake horizontally.",
+    "Secure the bottle with white neck and red top with the left arm, shake in horizontal motion.",
+    "Grab the long thin bottle and shake in a horizontal motion.",
+    "Pick the red-capped bottle using the left arm and move it horizontally.",
+    "Grab the long thin bottle with the left arm and shake horizontally.",
+    "Lift the smooth bottle with red lid with the left arm, then shake it side to side.",
+    "Shake the smooth bottle with red lid smoothly without using the left arm reference.",
+    "Lift the hand-sized soda bottle and shake it horizontally.",
+    "Utilize the left arm to grab the plastic drink bottle and shake sideways.",
+    "Hold the brown bottle with red label steady and shake it horizontally.",
+    "Shake the dark drink bottle with logo horizontally without mentioning the left arm.",
+    "Shake the bottle with ridges on bottom side-to-side after grabbing it.",
+    "Hold the dark drink bottle with logo with the left arm and move it left and right.",
+    "Hold the smooth bottle with red lid and move it side to side.",
+    "Take hold of the long thin bottle using the left arm and move horizontally.",
+    "Pick the narrow-necked bottle, then shake it horizontally.",
+    "With the left arm, grab the bottle with ridges on bottom and shake it horizontally.",
+    "Grab the plastic drink bottle and move it side-to-side repeatedly.",
+    "Lift the brown bottle with red label and move it side-to-side.",
+    "Using the left arm, grab the bottle with white neck and red top and shake it sideways.",
+    "Use the left arm to grab the Coca-Cola bottle and shake horizontally.",
+    "Using the left arm, pick up the Coca-Cola bottle and shake sideways.",
+    "Use the left arm to hold the narrow-necked bottle and shake it sideways.",
+    "Use the left arm to grab the dark drink bottle with logo and move it horizontally.",
+    "Lift the bottle with ridges on bottom using the left arm and shake horizontally.",
+    "Grab and shake the hand-sized soda bottle horizontally without mentioning the left arm.",
+    "Move the hand-sized soda bottle side-to-side after grabbing it.",
+    "Take the bottle with ridges on bottom in the left arm and shake it back and forth.",
+    "Hold the hand-sized soda bottle and shake it side to side.",
+    "Shake the bottle with ridges on bottom horizontally after lifting with the left arm.",
+    "Hold the dark drink bottle with logo using the left arm and shake it horizontally.",
+    "Lift the plastic drink bottle using the left arm and shake it sideways.",
+    "Pick up the smooth bottle with red lid with the left arm, shake it sideways.",
+    "Grab the red-capped bottle using the left arm and move it side-to-side.",
+    "Use the left arm to hold the bottle with white neck and red top firmly and shake horizontally.",
+    "Pick up the brown bottle with red label using the left arm, shake it horizontally.",
+    "Shake the bottle with white neck and red top from side to side.",
+    "Use the left arm to pick the Coca-Cola bottle and shake it horizontally.",
+    "Pick up the plastic drink bottle and shake it horizontally.",
+    "Grip the bottle with white neck and red top, then shake it back and forth.",
+    "Simply shake the bottle with white neck and red top horizontally without the left arm details.",
+    "Pick up the plastic drink bottle using the left arm and shake sideways.",
+    "Pick up the Coca-Cola bottle and shake it side to side.",
+    "Grab the dark drink bottle with logo, shake it horizontally, then release.",
+    "Pick up the long thin bottle and shake it from side to side.",
+    "Pick the red-capped bottle up and shake it horizontally.",
+    "Hold the dark drink bottle with logo and move it side to side.",
+    "Shake the red-capped bottle side-to-side after grabbing it.",
+    "Using the left arm, shake the brown bottle with red label horizontally.",
+    "Lift the narrow-necked bottle and move it back and forth.",
+    "Hold the long thin bottle with the left arm and shake horizontally.",
+    "Secure the red-capped bottle with the left arm, shake in horizontal motion.",
+    "Grab the hand-sized soda bottle and shake in a horizontal motion.",
+    "Pick the long thin bottle using the left arm and move it horizontally.",
+    "Grab the bottle with white neck and red top with the left arm and shake horizontally.",
+    "Lift the Coca-Cola bottle with the left arm, then shake it side to side.",
+    "Shake the red-capped bottle smoothly without using the left arm reference.",
+    "Lift the narrow-necked bottle and shake it horizontally.",
+    "Utilize the left arm to grab the bottle with ridges on bottom and shake sideways.",
+    "Hold the brown bottle with red label steady and shake it horizontally.",
+    "Shake the medium dark brown bottle horizontally without mentioning the left arm.",
+    "Shake the Coca-Cola bottle side-to-side after grabbing it.",
+    "Hold the plastic drink bottle with the left arm and move it left and right.",
+    "Hold the dark drink bottle with logo and move it side to side.",
+    "Take hold of the red-capped bottle using the left arm and move horizontally.",
+    "Pick the smooth bottle with red lid, then shake it horizontally.",
+    "With the left arm, grab the red-capped bottle and shake it horizontally.",
+    "Grab the bottle with ridges on bottom and move it side-to-side repeatedly.",
+    "Lift the red-capped bottle and move it side-to-side.",
+    "Using the left arm, grab the long thin bottle and shake it sideways.",
+    "Use the left arm to grab the hand-sized soda bottle and shake horizontally.",
+    "Using the left arm, pick up the dark drink bottle with logo and shake sideways.",
+    "Use the left arm to hold the bottle with ridges on bottom and shake it sideways.",
+    "Use the left arm to grab the bottle with white neck and red top and move it horizontally.",
+    "Lift the dark drink bottle with logo using the left arm and shake horizontally.",
+    "Grab and shake the Coca-Cola bottle horizontally without mentioning the left arm.",
+    "Move the long thin bottle side-to-side after grabbing it.",
+    "Take the red-capped bottle in the left arm and shake it back and forth.",
+    "Hold the brown bottle with red label and shake it side to side.",
+    "Shake the hand-sized soda bottle horizontally after lifting with the left arm.",
+    "Hold the long thin bottle using the left arm and shake it horizontally.",
+    "Lift the Coca-Cola bottle using the left arm and shake it sideways.",
+    "Pick up the long thin bottle with the left arm, shake it sideways.",
+    "Grab the medium dark brown bottle using the left arm and move it side-to-side.",
+    "Use the left arm to hold the hand-sized soda bottle firmly and shake horizontally.",
+    "Pick up the bottle with white neck and red top using the left arm, shake it horizontally.",
+    "Shake the long thin bottle from side to side.",
+    "Use the left arm to pick the medium dark brown bottle and shake it horizontally.",
+    "Pick up the narrow-necked bottle and shake it horizontally.",
+    "Grip the dark drink bottle with logo, then shake it back and forth.",
+    "Simply shake the Coca-Cola bottle horizontally without the left arm details.",
+    "Pick up the medium dark brown bottle using the left arm and shake sideways.",
+    "Pick up the bottle with white neck and red top and shake it side to side.",
+    "Grab the bottle with white neck and red top, shake it horizontally, then release.",
+    "Pick up the plastic drink bottle and shake it from side to side.",
+    "Pick the narrow-necked bottle up and shake it horizontally."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Grab the brown bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the brown bottle and shake sideways.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm and shake horizontally.",
+    "Use the left arm to pick the bottle with red screw cap and shake it.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Grab the brown bottle with the left arm, shake horizontally.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the brown bottle and shake sideways.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm and shake horizontally.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm, shake horizontally.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm, shake horizontally.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle with the left arm and shake horizontally.",
+    "Use the left arm to pick the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Grab the brown bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the left arm to hold the plastic soda bottle and shake sideways.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Grip the bottle with red screw cap and shake it horizontally.",
+    "Grab the bottle with red screw cap with the left arm and shake horizontally.",
+    "Use the left arm to pick the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Grab the plastic soda bottle with the left arm, shake horizontally.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the left arm to hold the bottle with red screw cap and shake sideways.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Grip the plastic soda bottle and shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode17.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5e11bed8347de08f629a0f4fb8c984be2d2578
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with flat sides and logo steady and shake it horizontally.",
+    "Lift the medium-sized brown plastic bottle and move it back and forth.",
+    "Pick up the medium bottle with glossy surface and shake it from side to side.",
+    "Secure the dark brown bottle with a squared body with the right arm, shake in horizontal motion.",
+    "Use the right arm to grab the dark brown bottle with a squared body and move it horizontally.",
+    "Lift the plastic bottle and shake it horizontally.",
+    "Using the right arm, shake the smooth plastic bottle with white cap horizontally.",
+    "Use the right arm to hold the medium-sized brown plastic bottle and shake it sideways.",
+    "Grab the brown bottle and shake in a horizontal motion.",
+    "Shake the plastic bottle side-to-side after grabbing it.",
+    "Pick up the brown bottle with the right arm, shake it sideways.",
+    "Pick up the bottle with flat sides and logo using the right arm, shake it horizontally.",
+    "Shake the rectangular-shaped bottle with round cap side-to-side after grabbing it.",
+    "Use the right arm to grab the smooth plastic bottle with white cap and shake horizontally.",
+    "Hold the medium-sized brown plastic bottle and move it side to side.",
+    "Pick up the smooth brown bottle with green label and shake it side to side.",
+    "With the right arm, grab the brown bottle and shake it horizontally.",
+    "Using the right arm, pick up the brown bottle and shake sideways.",
+    "Hold the medium-sized brown plastic bottle with the right arm and move it left and right.",
+    "Grab the medium bottle with glossy surface and move it side-to-side repeatedly.",
+    "Hold the medium bottle with glossy surface and shake it side to side.",
+    "Simply shake the bottle with flat sides and logo horizontally without the right arm details.",
+    "Lift the bottle with green cap using the right arm and shake horizontally.",
+    "Pick the bottle with green cap using the right arm and move it horizontally.",
+    "Shake the brown bottle horizontally without mentioning the right arm.",
+    "Pick the medium bottle with glossy surface, then shake it horizontally.",
+    "Pick up the plastic bottle using the right arm and shake sideways.",
+    "Grab and shake the bottle with flat sides and logo horizontally without mentioning the right arm.",
+    "Shake the smooth plastic bottle with white cap horizontally after lifting with the right arm.",
+    "Lift the brown bottle with rounded rectangular shape with the right arm, then shake it side to side.",
+    "Take hold of the smooth brown bottle with green label using the right arm and move horizontally.",
+    "Using the right arm, grab the bottle with flat sides and logo and shake it sideways.",
+    "Lift the rectangular brown body with white top and move it side-to-side.",
+    "Hold the bottle with flat sides and logo and move it side to side.",
+    "Take the brown bottle in the right arm and shake it back and forth.",
+    "Utilize the right arm to grab the smooth brown bottle with green label and shake sideways.",
+    "Pick the brown bottle up and shake it horizontally.",
+    "Pick up the smooth plastic bottle with white cap and shake it horizontally.",
+    "Grab the smooth brown bottle with green label with the right arm and shake horizontally.",
+    "Grab the rectangular brown body with white top using the right arm and move it side-to-side.",
+    "Hold the smooth plastic bottle with white cap with the right arm and shake horizontally.",
+    "Hold the plastic bottle using the right arm and shake it horizontally.",
+    "Lift the dark brown bottle with a squared body using the right arm and shake it sideways.",
+    "Grab the medium bottle with glossy surface, shake it horizontally, then release.",
+    "Shake the bottle with green cap smoothly without using the right arm reference.",
+    "Shake the brown bottle from side to side.",
+    "Grip the brown bottle, then shake it back and forth.",
+    "Move the smooth plastic bottle with white cap side-to-side after grabbing it.",
+    "Use the right arm to hold the brown bottle firmly and shake horizontally.",
+    "Use the right arm to pick the smooth brown bottle with green label and shake it horizontally.",
+    "Hold the plastic bottle steady and shake it horizontally.",
+    "Lift the medium bottle with glossy surface and move it back and forth.",
+    "Pick up the brown bottle and shake it from side to side.",
+    "Secure the smooth brown bottle with green label with the right arm, shake in horizontal motion.",
+    "Use the right arm to grab the bottle with green cap and move it horizontally.",
+    "Lift the plastic bottle and shake it horizontally.",
+    "Using the right arm, shake the dark brown bottle with a squared body horizontally.",
+    "Use the right arm to hold the brown bottle with rounded rectangular shape and shake it sideways.",
+    "Grab the smooth plastic bottle with white cap and shake in a horizontal motion.",
+    "Shake the rectangular-shaped bottle with round cap side-to-side after grabbing it.",
+    "Pick up the rectangular brown body with white top with the right arm, shake it sideways.",
+    "Pick up the plastic bottle using the right arm, shake it horizontally.",
+    "Shake the smooth brown bottle with green label side-to-side after grabbing it.",
+    "Use the right arm to grab the rectangular brown body with white top and shake horizontally.",
+    "Hold the medium-sized brown plastic bottle and move it side to side.",
+    "Pick up the bottle with flat sides and logo and shake it side to side.",
+    "With the right arm, grab the brown bottle with rounded rectangular shape and shake it horizontally.",
+    "Using the right arm, pick up the rectangular-shaped bottle with round cap and shake sideways.",
+    "Hold the brown bottle with the right arm and move it left and right.",
+    "Grab the bottle with green cap and move it side-to-side repeatedly.",
+    "Hold the bottle with flat sides and logo and shake it side to side.",
+    "Simply shake the medium-sized brown plastic bottle horizontally without the right arm details.",
+    "Lift the brown bottle with rounded rectangular shape using the right arm and shake horizontally.",
+    "Pick the medium bottle with glossy surface using the right arm and move it horizontally.",
+    "Shake the medium bottle with glossy surface horizontally without mentioning the right arm.",
+    "Pick the dark brown bottle with a squared body, then shake it horizontally.",
+    "Pick up the brown bottle with rounded rectangular shape using the right arm and shake sideways.",
+    "Grab and shake the bottle with flat sides and logo horizontally without mentioning the right arm.",
+    "Shake the dark brown bottle with a squared body horizontally after lifting with the right arm.",
+    "Lift the brown bottle with the right arm, then shake it side to side.",
+    "Take hold of the brown bottle using the right arm and move horizontally.",
+    "Using the right arm, grab the smooth plastic bottle with white cap and shake it sideways.",
+    "Lift the smooth plastic bottle with white cap and move it side-to-side.",
+    "Hold the medium-sized brown plastic bottle and move it side to side.",
+    "Take the bottle with green cap in the right arm and shake it back and forth.",
+    "Utilize the right arm to grab the rectangular brown body with white top and shake sideways.",
+    "Pick the medium bottle with glossy surface up and shake it horizontally.",
+    "Pick up the plastic bottle and shake it horizontally.",
+    "Grab the bottle with green cap with the right arm and shake horizontally.",
+    "Grab the bottle with green cap using the right arm and move it side-to-side.",
+    "Hold the medium bottle with glossy surface with the right arm and shake horizontally.",
+    "Hold the plastic bottle using the right arm and shake it horizontally.",
+    "Lift the bottle with flat sides and logo using the right arm and shake it sideways.",
+    "Grab the dark brown bottle with a squared body, shake it horizontally, then release.",
+    "Shake the rectangular brown body with white top smoothly without using the right arm reference.",
+    "Shake the medium-sized brown plastic bottle from side to side.",
+    "Grip the brown bottle with rounded rectangular shape, then shake it back and forth.",
+    "Move the bottle with green cap side-to-side after grabbing it.",
+    "Use the right arm to hold the brown bottle firmly and shake horizontally.",
+    "Use the right arm to pick the rectangular-shaped bottle with round cap and shake it horizontally."
+  ],
+  "unseen": [
+    "Grab the bottle with green label and white lid with the right arm and shake horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm, shake horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with green label and white lid and shake sideways.",
+    "Use the right arm to pick the bottle with green label and white lid and shake it.",
+    "Shake the liquid container dark brown plastic side-to-side after picking it up.",
+    "Grab the liquid container dark brown plastic and shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top, shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm and shake horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm, shake horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with green label and white lid and shake sideways.",
+    "Use the right arm to pick the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top side-to-side after picking it up.",
+    "Grab the liquid container dark brown plastic and shake it horizontally.",
+    "Grab the liquid container dark brown plastic, shake it horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm and shake horizontally.",
+    "Grab the bottle with green label and white lid with the right arm, shake horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with green label and white lid and shake sideways.",
+    "Use the right arm to pick the liquid container dark brown plastic and shake it.",
+    "Shake the liquid container dark brown plastic side-to-side after picking it up.",
+    "Grab the bottle with green label and white lid and shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top, shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm and shake horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm, shake horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing it.",
+    "Use the right arm to hold the medium-sized plastic bottle with capped top and shake sideways.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid side-to-side after picking it up.",
+    "Grab the medium-sized plastic bottle with capped top and shake it horizontally.",
+    "Grab the liquid container dark brown plastic, shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm and shake horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm, shake horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing it.",
+    "Use the right arm to hold the medium-sized plastic bottle with capped top and shake sideways.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the liquid container dark brown plastic side-to-side after picking it up.",
+    "Grab the liquid container dark brown plastic and shake it horizontally.",
+    "Grab the liquid container dark brown plastic, shake it horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm and shake horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm, shake horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with green label and white lid and shake sideways.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the medium-sized plastic bottle with capped top side-to-side after picking it up.",
+    "Grab the bottle with green label and white lid and shake it horizontally.",
+    "Grab the liquid container dark brown plastic, shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm and shake horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm, shake horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing it.",
+    "Use the right arm to hold the medium-sized plastic bottle with capped top and shake sideways.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid side-to-side after picking it up.",
+    "Grab the liquid container dark brown plastic and shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top, shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm and shake horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm, shake horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing it.",
+    "Use the right arm to hold the medium-sized plastic bottle with capped top and shake sideways.",
+    "Use the right arm to pick the bottle with green label and white lid and shake it.",
+    "Shake the liquid container dark brown plastic side-to-side after picking it up.",
+    "Grab the bottle with green label and white lid and shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top, shake it horizontally.",
+    "Grab the bottle with green label and white lid with the right arm and shake horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm, shake horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing.",
+    "Grip the liquid container dark brown plastic and shake it horizontally.",
+    "Shake the liquid container dark brown plastic horizontally after grabbing it.",
+    "Use the right arm to hold the liquid container dark brown plastic and shake sideways.",
+    "Use the right arm to pick the liquid container dark brown plastic and shake it.",
+    "Shake the bottle with green label and white lid side-to-side after picking it up.",
+    "Grab the bottle with green label and white lid and shake it horizontally.",
+    "Grab the medium-sized plastic bottle with capped top, shake it horizontally.",
+    "Grab the liquid container dark brown plastic with the right arm and shake horizontally.",
+    "Grab the medium-sized plastic bottle with capped top with the right arm, shake horizontally.",
+    "Shake the bottle with green label and white lid horizontally after grabbing.",
+    "Grip the medium-sized plastic bottle with capped top and shake it horizontally.",
+    "Shake the medium-sized plastic bottle with capped top horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with green label and white lid and shake sideways.",
+    "Use the right arm to pick the liquid container dark brown plastic and shake it.",
+    "Shake the bottle with green label and white lid side-to-side after picking it up.",
+    "Grab the medium-sized plastic bottle with capped top and shake it horizontally.",
+    "Grab the bottle with green label and white lid, shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode18.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..5584f01f093021602bdf1afb862eb1033f2c289e
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow-capped plastic bottle and shake it from side to side.",
+    "Lift the cylindrical orange bottle with yellow top using the right arm and shake horizontally.",
+    "Pick the orange bottle using the right arm and move it horizontally.",
+    "Hold the bottle with yellow cap and shake it side to side.",
+    "Lift the bottle with yellow cap and move it side-to-side.",
+    "Hold the bottle with printed label and move it side to side.",
+    "Lift the smooth plastic bottle using the right arm and shake it sideways.",
+    "Use the right arm to hold the yellow-capped plastic bottle and shake it sideways.",
+    "Grab the bottle with yellow cap and shake in a horizontal motion.",
+    "Grip the cylindrical orange bottle with yellow top, then shake it back and forth.",
+    "Shake the orange bottle horizontally without mentioning the right arm.",
+    "Grab the smooth plastic bottle using the right arm and move it side-to-side.",
+    "Pick up the orange cylindrical bottle using the right arm, shake it horizontally.",
+    "Pick the cylindrical orange bottle with yellow top, then shake it horizontally.",
+    "Use the right arm to grab the smooth plastic bottle and move it horizontally.",
+    "Hold the bottle with narrow neck steady and shake it horizontally.",
+    "Lift the bottle with narrow neck and shake it horizontally.",
+    "Utilize the right arm to grab the orange bottle and shake sideways.",
+    "Take hold of the bottle with printed label using the right arm and move horizontally.",
+    "Hold the plastic bottle with the right arm and move it left and right.",
+    "Grab and shake the medium-sized orange bottle horizontally without mentioning the right arm.",
+    "Pick up the smooth plastic bottle with the right arm, shake it sideways.",
+    "Secure the bottle with narrow neck with the right arm, shake in horizontal motion.",
+    "Move the bottle with yellow cap side-to-side after grabbing it.",
+    "Grab the yellow-capped plastic bottle, shake it horizontally, then release.",
+    "Use the right arm to grab the smooth plastic bottle and shake horizontally.",
+    "Shake the cylindrical orange bottle with yellow top side-to-side after grabbing it.",
+    "Using the right arm, pick up the orange cylindrical bottle and shake sideways.",
+    "Pick the cylindrical orange bottle with yellow top up and shake it horizontally.",
+    "Use the right arm to hold the orange cylindrical bottle firmly and shake horizontally.",
+    "Hold the bottle with yellow cap with the right arm and shake horizontally.",
+    "Shake the plastic bottle with sealed yellow cap smoothly without using the right arm reference.",
+    "Shake the smooth plastic bottle from side to side.",
+    "Using the right arm, shake the bottle with yellow cap horizontally.",
+    "Simply shake the plastic bottle horizontally without the right arm details.",
+    "Pick up the cylindrical orange bottle with yellow top using the right arm and shake sideways.",
+    "Shake the bottle for liquids horizontally after lifting with the right arm.",
+    "Hold the cylindrical orange bottle with yellow top using the right arm and shake it horizontally.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it side to side.",
+    "Grab the yellow-capped plastic bottle with the right arm and shake horizontally.",
+    "Hold the bottle with printed label and move it side to side.",
+    "Use the right arm to pick the bottle with yellow cap and shake it horizontally.",
+    "Take the orange cylindrical bottle in the right arm and shake it back and forth.",
+    "Grab the cylindrical orange bottle with yellow top and move it side-to-side repeatedly.",
+    "Shake the smooth plastic bottle side-to-side after grabbing it.",
+    "Pick up the yellow-capped plastic bottle and shake it horizontally.",
+    "Using the right arm, grab the medium-sized orange bottle and shake it sideways.",
+    "Lift the plastic bottle with sealed yellow cap and move it back and forth.",
+    "Lift the smooth plastic bottle with the right arm, then shake it side to side.",
+    "With the right arm, grab the bottle for liquids and shake it horizontally.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it from side to side.",
+    "Lift the plastic bottle using the right arm and shake horizontally.",
+    "Pick the bottle for liquids using the right arm and move it horizontally.",
+    "Hold the bottle for liquids and shake it side to side.",
+    "Lift the plastic bottle and move it side-to-side.",
+    "Hold the yellow-capped plastic bottle and move it side to side.",
+    "Lift the bottle for liquids using the right arm and shake it sideways.",
+    "Use the right arm to hold the bottle for liquids and shake it sideways.",
+    "Grab the plastic bottle and shake in a horizontal motion.",
+    "Grip the bottle with narrow neck, then shake it back and forth.",
+    "Shake the plastic bottle horizontally without mentioning the right arm.",
+    "Grab the bottle with narrow neck using the right arm and move it side-to-side.",
+    "Pick up the yellow-capped plastic bottle using the right arm, shake it horizontally.",
+    "Pick the smooth plastic bottle, then shake it horizontally.",
+    "Use the right arm to grab the cylindrical orange bottle with yellow top and move it horizontally.",
+    "Hold the bottle with narrow neck steady and shake it horizontally.",
+    "Lift the cylindrical orange bottle with yellow top and shake it horizontally.",
+    "Utilize the right arm to grab the smooth plastic bottle and shake sideways.",
+    "Take hold of the bottle with yellow cap using the right arm and move horizontally.",
+    "Hold the medium-sized orange bottle with the right arm and move it left and right.",
+    "Grab and shake the plastic bottle with sealed yellow cap horizontally without mentioning the right arm.",
+    "Pick up the bottle with narrow neck with the right arm, shake it sideways.",
+    "Secure the cylindrical orange bottle with yellow top with the right arm, shake in horizontal motion.",
+    "Move the bottle with narrow neck side-to-side after grabbing it.",
+    "Grab the yellow-capped plastic bottle, shake it horizontally, then release.",
+    "Use the right arm to grab the bottle with yellow cap and shake horizontally.",
+    "Shake the bottle for liquids side-to-side after grabbing it.",
+    "Using the right arm, pick up the plastic bottle with sealed yellow cap and shake sideways.",
+    "Pick the orange cylindrical bottle up and shake it horizontally.",
+    "Use the right arm to hold the bottle with printed label firmly and shake horizontally.",
+    "Hold the bottle for liquids with the right arm and shake horizontally.",
+    "Shake the bottle with narrow neck smoothly without using the right arm reference.",
+    "Shake the cylindrical orange bottle with yellow top from side to side.",
+    "Using the right arm, shake the bottle with narrow neck horizontally.",
+    "Simply shake the bottle for liquids horizontally without the right arm details.",
+    "Pick up the cylindrical orange bottle with yellow top using the right arm and shake sideways.",
+    "Shake the cylindrical orange bottle with yellow top horizontally after lifting with the right arm.",
+    "Hold the bottle with printed label using the right arm and shake it horizontally.",
+    "Pick up the medium-sized orange bottle and shake it side to side.",
+    "Grab the bottle with printed label with the right arm and shake horizontally.",
+    "Hold the orange bottle and move it side to side.",
+    "Use the right arm to pick the bottle with yellow cap and shake it horizontally.",
+    "Take the bottle with narrow neck in the right arm and shake it back and forth.",
+    "Grab the orange cylindrical bottle and move it side-to-side repeatedly.",
+    "Shake the bottle for liquids side-to-side after grabbing it.",
+    "Pick up the medium-sized orange bottle and shake it horizontally.",
+    "Using the right arm, grab the yellow-capped plastic bottle and shake it sideways.",
+    "Lift the bottle with yellow cap and move it back and forth.",
+    "Lift the plastic bottle with sealed yellow cap with the right arm, then shake it side to side.",
+    "With the right arm, grab the plastic bottle and shake it horizontally."
+  ],
+  "unseen": [
+    "Shake the label-covered orange bottle horizontally after grabbing.",
+    "Grab the handheld orange bottle and shake it horizontally.",
+    "Shake the orange bottle with smooth texture side-to-side after picking it up.",
+    "Use the right arm to pick the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle with the right arm, shake horizontally.",
+    "Grip the handheld orange bottle and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the label-covered orange bottle horizontally after grabbing it.",
+    "Grab the handheld orange bottle with the right arm and shake horizontally.",
+    "Shake the handheld orange bottle horizontally after grabbing.",
+    "Grab the handheld orange bottle and shake it horizontally.",
+    "Shake the orange bottle with smooth texture side-to-side after picking it up.",
+    "Use the right arm to pick the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture with the right arm, shake horizontally.",
+    "Grip the handheld orange bottle and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the orange bottle with smooth texture, shake it horizontally.",
+    "Shake the handheld orange bottle horizontally after grabbing it.",
+    "Grab the label-covered orange bottle with the right arm and shake horizontally.",
+    "Shake the label-covered orange bottle horizontally after grabbing.",
+    "Grab the orange bottle with smooth texture and shake it horizontally.",
+    "Shake the orange bottle with smooth texture side-to-side after picking it up.",
+    "Use the right arm to pick the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle with the right arm, shake horizontally.",
+    "Grip the label-covered orange bottle and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing it.",
+    "Grab the handheld orange bottle with the right arm and shake horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing.",
+    "Grab the handheld orange bottle and shake it horizontally.",
+    "Shake the orange bottle with smooth texture side-to-side after picking it up.",
+    "Use the right arm to pick the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle with the right arm, shake horizontally.",
+    "Grip the label-covered orange bottle and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the handheld orange bottle horizontally after grabbing it.",
+    "Grab the handheld orange bottle with the right arm and shake horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing.",
+    "Grab the label-covered orange bottle and shake it horizontally.",
+    "Shake the handheld orange bottle side-to-side after picking it up.",
+    "Use the right arm to pick the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture with the right arm, shake horizontally.",
+    "Grip the orange bottle with smooth texture and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the handheld orange bottle horizontally after grabbing it.",
+    "Grab the handheld orange bottle with the right arm and shake horizontally.",
+    "Shake the handheld orange bottle horizontally after grabbing.",
+    "Grab the handheld orange bottle and shake it horizontally.",
+    "Shake the label-covered orange bottle side-to-side after picking it up.",
+    "Use the right arm to pick the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle with the right arm, shake horizontally.",
+    "Grip the orange bottle with smooth texture and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing it.",
+    "Grab the orange bottle with smooth texture with the right arm and shake horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing.",
+    "Grab the handheld orange bottle and shake it horizontally.",
+    "Shake the label-covered orange bottle side-to-side after picking it up.",
+    "Use the right arm to pick the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle with the right arm, shake horizontally.",
+    "Grip the label-covered orange bottle and shake it horizontally.",
+    "Use the right arm to hold the orange bottle with smooth texture and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing it.",
+    "Grab the orange bottle with smooth texture with the right arm and shake horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing.",
+    "Grab the orange bottle with smooth texture and shake it horizontally.",
+    "Shake the label-covered orange bottle side-to-side after picking it up.",
+    "Use the right arm to pick the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle with the right arm, shake horizontally.",
+    "Grip the orange bottle with smooth texture and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the handheld orange bottle horizontally after grabbing it.",
+    "Grab the label-covered orange bottle with the right arm and shake horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing.",
+    "Grab the label-covered orange bottle and shake it horizontally.",
+    "Shake the handheld orange bottle side-to-side after picking it up.",
+    "Use the right arm to pick the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture with the right arm, shake horizontally.",
+    "Grip the label-covered orange bottle and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the handheld orange bottle, shake it horizontally.",
+    "Shake the label-covered orange bottle horizontally after grabbing it.",
+    "Grab the label-covered orange bottle with the right arm and shake horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing.",
+    "Grab the label-covered orange bottle and shake it horizontally.",
+    "Shake the label-covered orange bottle side-to-side after picking it up.",
+    "Use the right arm to pick the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture with the right arm, shake horizontally.",
+    "Grip the orange bottle with smooth texture and shake it horizontally.",
+    "Use the right arm to hold the label-covered orange bottle and shake sideways.",
+    "Grab the label-covered orange bottle, shake it horizontally.",
+    "Shake the orange bottle with smooth texture horizontally after grabbing it.",
+    "Grab the orange bottle with smooth texture with the right arm and shake horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode19.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..427040bd190049aa0323d6f2f9e33582c4531d92
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the light gray colored container bottle and move it horizontally.",
+    "Pick up the hand-sized bottle with screw cap using the left arm, shake it horizontally.",
+    "Use the left arm to hold the bottle with cute ghost drawing firmly and shake horizontally.",
+    "Lift the rounded body bottle made of plastic with the left arm, then shake it side to side.",
+    "Use the left arm to hold the bottle shaped like small cylinder and shake it sideways.",
+    "Shake the hand-sized bottle with screw cap horizontally after lifting with the left arm.",
+    "Hold the rounded body bottle made of plastic with the left arm and shake horizontally.",
+    "Pick up the medium cylinder-shaped bottle and shake it side to side.",
+    "Hold the medium cylinder-shaped bottle and move it side to side.",
+    "Use the left arm to grab the rounded body bottle made of plastic and shake horizontally.",
+    "Lift the gray bottle with slight shine and shake it horizontally.",
+    "Shake the bottle shaped like small cylinder horizontally without mentioning the left arm.",
+    "Grab the light gray colored container bottle with the left arm and shake horizontally.",
+    "Simply shake the medium cylinder-shaped bottle horizontally without the left arm details.",
+    "Shake the medium-sized plastic bottle side-to-side after grabbing it.",
+    "Lift the medium-sized plastic bottle and move it back and forth.",
+    "Grab and shake the rounded body bottle made of plastic horizontally without mentioning the left arm.",
+    "Pick up the plastic bottle with ghost print with the left arm, shake it sideways.",
+    "Grab the light gray colored container bottle using the left arm and move it side-to-side.",
+    "Pick the bottle with cute ghost drawing, then shake it horizontally.",
+    "Hold the plastic bottle with ghost print and move it side to side.",
+    "Secure the smooth cylindrical bottle with the left arm, shake in horizontal motion.",
+    "Using the left arm, grab the medium-sized plastic bottle and shake it sideways.",
+    "Shake the plastic bottle with ghost print smoothly without using the left arm reference.",
+    "Grip the hand-sized bottle with screw cap, then shake it back and forth.",
+    "Pick up the milk-bottle shape design using the left arm and shake sideways.",
+    "Using the left arm, pick up the bottle shaped like small cylinder and shake sideways.",
+    "Shake the rounded body bottle made of plastic side-to-side after grabbing it.",
+    "Grab the rounded body bottle made of plastic and move it side-to-side repeatedly.",
+    "Move the rounded body bottle made of plastic side-to-side after grabbing it.",
+    "Pick the bottle with cute ghost drawing up and shake it horizontally.",
+    "Grab the gray bottle with slight shine and shake in a horizontal motion.",
+    "Utilize the left arm to grab the smooth cylindrical bottle and shake sideways.",
+    "Lift the medium cylinder-shaped bottle using the left arm and shake it sideways.",
+    "Lift the light gray colored container bottle using the left arm and shake horizontally.",
+    "Pick up the bottle with cute ghost drawing and shake it from side to side.",
+    "Hold the rounded body bottle made of plastic steady and shake it horizontally.",
+    "Hold the medium-sized plastic bottle with the left arm and move it left and right.",
+    "Shake the rounded body bottle made of plastic from side to side.",
+    "Take the bottle with cute ghost drawing in the left arm and shake it back and forth.",
+    "With the left arm, grab the hand-sized bottle with screw cap and shake it horizontally.",
+    "Pick the medium cylinder-shaped bottle using the left arm and move it horizontally.",
+    "Take hold of the bottle shaped like small cylinder using the left arm and move horizontally.",
+    "Use the left arm to pick the medium cylinder-shaped bottle and shake it horizontally.",
+    "Using the left arm, shake the gray bottle with slight shine horizontally.",
+    "Grab the medium-sized plastic bottle, shake it horizontally, then release.",
+    "Pick up the plastic bottle with ghost print and shake it horizontally.",
+    "Lift the hand-sized bottle with screw cap and move it side-to-side.",
+    "Hold the medium cylinder-shaped bottle and shake it side to side.",
+    "Hold the light gray colored container bottle using the left arm and shake it horizontally.",
+    "Use the left arm to grab the smooth cylindrical bottle and move it horizontally.",
+    "Pick up the medium cylinder-shaped bottle using the left arm, shake it horizontally.",
+    "Use the left arm to hold the plastic bottle with ghost print firmly and shake horizontally.",
+    "Lift the hand-sized bottle with screw cap with the left arm, then shake it side to side.",
+    "Use the left arm to hold the medium cylinder-shaped bottle and shake it sideways.",
+    "Shake the smooth surface bottle with gray shade horizontally after lifting with the left arm.",
+    "Hold the bottle with cute ghost drawing with the left arm and shake horizontally.",
+    "Pick up the milk-bottle shape design and shake it side to side.",
+    "Hold the bottle with cute ghost drawing and move it side to side.",
+    "Use the left arm to grab the bottle shaped like small cylinder and shake horizontally.",
+    "Lift the smooth surface bottle with gray shade and shake it horizontally.",
+    "Shake the medium-sized plastic bottle horizontally without mentioning the left arm.",
+    "Grab the smooth cylindrical bottle with the left arm and shake horizontally.",
+    "Simply shake the plastic bottle with ghost print horizontally without the left arm details.",
+    "Shake the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Lift the smooth cylindrical bottle and move it back and forth.",
+    "Grab and shake the milk-bottle shape design horizontally without mentioning the left arm.",
+    "Pick up the plastic bottle with ghost print with the left arm, shake it sideways.",
+    "Grab the medium-sized plastic bottle using the left arm and move it side-to-side.",
+    "Pick the gray bottle with slight shine, then shake it horizontally.",
+    "Hold the bottle with cute ghost drawing and move it side to side.",
+    "Secure the plastic bottle with ghost print with the left arm, shake in horizontal motion.",
+    "Using the left arm, grab the rounded body bottle made of plastic and shake it sideways.",
+    "Shake the milk-bottle shape design smoothly without using the left arm reference.",
+    "Grip the medium-sized plastic bottle, then shake it back and forth.",
+    "Pick up the gray bottle with slight shine using the left arm and shake sideways.",
+    "Using the left arm, pick up the medium cylinder-shaped bottle and shake sideways.",
+    "Shake the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Grab the milk-bottle shape design and move it side-to-side repeatedly.",
+    "Move the milk-bottle shape design side-to-side after grabbing it.",
+    "Pick the bottle shaped like small cylinder up and shake it horizontally.",
+    "Grab the plastic bottle with ghost print and shake in a horizontal motion.",
+    "Utilize the left arm to grab the smooth surface bottle with gray shade and shake sideways.",
+    "Lift the light gray colored container bottle using the left arm and shake it sideways.",
+    "Lift the gray bottle with slight shine using the left arm and shake horizontally.",
+    "Pick up the light gray colored container bottle and shake it from side to side.",
+    "Hold the hand-sized bottle with screw cap steady and shake it horizontally.",
+    "Hold the rounded body bottle made of plastic with the left arm and move it left and right.",
+    "Shake the smooth surface bottle with gray shade from side to side.",
+    "Take the milk-bottle shape design in the left arm and shake it back and forth.",
+    "With the left arm, grab the smooth surface bottle with gray shade and shake it horizontally.",
+    "Pick the bottle shaped like small cylinder using the left arm and move it horizontally.",
+    "Take hold of the rounded body bottle made of plastic using the left arm and move horizontally.",
+    "Use the left arm to pick the smooth cylindrical bottle and shake it horizontally.",
+    "Using the left arm, shake the medium-sized plastic bottle horizontally.",
+    "Grab the milk-bottle shape design, shake it horizontally, then release.",
+    "Pick up the bottle with cute ghost drawing and shake it horizontally.",
+    "Lift the bottle shaped like small cylinder and move it side-to-side.",
+    "Hold the medium-sized plastic bottle and shake it side to side.",
+    "Hold the gray bottle with slight shine using the left arm and shake it horizontally."
+  ],
+  "unseen": [
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode2.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..146bb637e269d650042151b18c218e80c0e9ee5e
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth surface bottle with gray shade and shake it horizontally.",
+    "Grab the bottle with cute ghost drawing using the left arm and move it side-to-side.",
+    "Pick the gray bottle with slight shine up and shake it horizontally.",
+    "Lift the medium-sized plastic bottle using the left arm and shake it sideways.",
+    "Use the left arm to grab the bottle with cute ghost drawing and shake horizontally.",
+    "Pick the rounded body bottle made of plastic using the left arm and move it horizontally.",
+    "Pick the bottle shaped like small cylinder, then shake it horizontally.",
+    "Use the left arm to grab the bottle with cute ghost drawing and move it horizontally.",
+    "Grab the hand-sized bottle with screw cap, shake it horizontally, then release.",
+    "Lift the hand-sized bottle with screw cap and move it back and forth.",
+    "Shake the medium cylinder-shaped bottle from side to side.",
+    "Lift the bottle shaped like small cylinder and shake it horizontally.",
+    "Shake the bottle with cute ghost drawing side-to-side after grabbing it.",
+    "Hold the medium cylinder-shaped bottle and shake it side to side.",
+    "Move the medium-sized plastic bottle side-to-side after grabbing it.",
+    "Simply shake the milk-bottle shape design horizontally without the left arm details.",
+    "Grab the smooth cylindrical bottle and shake in a horizontal motion.",
+    "Pick up the hand-sized bottle with screw cap and shake it from side to side.",
+    "Secure the smooth surface bottle with gray shade with the left arm, shake in horizontal motion.",
+    "Hold the hand-sized bottle with screw cap steady and shake it horizontally.",
+    "Pick up the medium-sized plastic bottle and shake it side to side.",
+    "Shake the rounded body bottle made of plastic horizontally after lifting with the left arm.",
+    "Shake the bottle shaped like small cylinder side-to-side after grabbing it.",
+    "Use the left arm to hold the rounded body bottle made of plastic and shake it sideways.",
+    "Use the left arm to hold the gray bottle with slight shine firmly and shake horizontally.",
+    "Lift the rounded body bottle made of plastic and move it side-to-side.",
+    "Lift the rounded body bottle made of plastic using the left arm and shake horizontally.",
+    "Grab the light gray colored container bottle with the left arm and shake horizontally.",
+    "Hold the bottle shaped like small cylinder using the left arm and shake it horizontally.",
+    "Using the left arm, shake the gray bottle with slight shine horizontally.",
+    "Lift the smooth surface bottle with gray shade with the left arm, then shake it side to side.",
+    "Hold the plastic bottle with ghost print with the left arm and move it left and right.",
+    "Use the left arm to pick the plastic bottle with ghost print and shake it horizontally.",
+    "Utilize the left arm to grab the bottle shaped like small cylinder and shake sideways.",
+    "Hold the bottle shaped like small cylinder and move it side to side.",
+    "Using the left arm, pick up the smooth cylindrical bottle and shake sideways.",
+    "Shake the smooth surface bottle with gray shade horizontally without mentioning the left arm.",
+    "Grab and shake the hand-sized bottle with screw cap horizontally without mentioning the left arm.",
+    "With the left arm, grab the bottle shaped like small cylinder and shake it horizontally.",
+    "Pick up the smooth surface bottle with gray shade using the left arm and shake sideways.",
+    "Take the plastic bottle with ghost print in the left arm and shake it back and forth.",
+    "Hold the hand-sized bottle with screw cap and move it side to side.",
+    "Grab the smooth surface bottle with gray shade and move it side-to-side repeatedly.",
+    "Hold the rounded body bottle made of plastic with the left arm and shake horizontally.",
+    "Pick up the milk-bottle shape design using the left arm, shake it horizontally.",
+    "Using the left arm, grab the smooth surface bottle with gray shade and shake it sideways.",
+    "Pick up the medium cylinder-shaped bottle with the left arm, shake it sideways.",
+    "Grip the bottle with cute ghost drawing, then shake it back and forth.",
+    "Shake the gray bottle with slight shine smoothly without using the left arm reference.",
+    "Take hold of the bottle with cute ghost drawing using the left arm and move horizontally.",
+    "Pick up the light gray colored container bottle and shake it horizontally.",
+    "Grab the hand-sized bottle with screw cap using the left arm and move it side-to-side.",
+    "Pick the plastic bottle with ghost print up and shake it horizontally.",
+    "Lift the plastic bottle with ghost print using the left arm and shake it sideways.",
+    "Use the left arm to grab the gray bottle with slight shine and shake horizontally.",
+    "Pick the light gray colored container bottle using the left arm and move it horizontally.",
+    "Pick the light gray colored container bottle, then shake it horizontally.",
+    "Use the left arm to grab the gray bottle with slight shine and move it horizontally.",
+    "Grab the smooth surface bottle with gray shade, shake it horizontally, then release.",
+    "Lift the smooth cylindrical bottle and move it back and forth.",
+    "Shake the medium cylinder-shaped bottle from side to side.",
+    "Lift the rounded body bottle made of plastic and shake it horizontally.",
+    "Shake the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Hold the hand-sized bottle with screw cap and shake it side to side.",
+    "Move the hand-sized bottle with screw cap side-to-side after grabbing it.",
+    "Simply shake the light gray colored container bottle horizontally without the left arm details.",
+    "Grab the plastic bottle with ghost print and shake in a horizontal motion.",
+    "Pick up the bottle with cute ghost drawing and shake it from side to side.",
+    "Secure the medium-sized plastic bottle with the left arm, shake in horizontal motion.",
+    "Hold the gray bottle with slight shine steady and shake it horizontally.",
+    "Pick up the bottle with cute ghost drawing and shake it side to side.",
+    "Shake the light gray colored container bottle horizontally after lifting with the left arm.",
+    "Shake the smooth cylindrical bottle side-to-side after grabbing it.",
+    "Use the left arm to hold the hand-sized bottle with screw cap and shake it sideways.",
+    "Use the left arm to hold the hand-sized bottle with screw cap firmly and shake horizontally.",
+    "Lift the gray bottle with slight shine and move it side-to-side.",
+    "Lift the rounded body bottle made of plastic using the left arm and shake horizontally.",
+    "Grab the milk-bottle shape design with the left arm and shake horizontally.",
+    "Hold the medium cylinder-shaped bottle using the left arm and shake it horizontally.",
+    "Using the left arm, shake the smooth surface bottle with gray shade horizontally.",
+    "Lift the bottle with cute ghost drawing with the left arm, then shake it side to side.",
+    "Hold the medium cylinder-shaped bottle with the left arm and move it left and right.",
+    "Use the left arm to pick the medium cylinder-shaped bottle and shake it horizontally.",
+    "Utilize the left arm to grab the hand-sized bottle with screw cap and shake sideways.",
+    "Hold the bottle shaped like small cylinder and move it side to side.",
+    "Using the left arm, pick up the medium cylinder-shaped bottle and shake sideways.",
+    "Shake the gray bottle with slight shine horizontally without mentioning the left arm.",
+    "Grab and shake the medium-sized plastic bottle horizontally without mentioning the left arm.",
+    "With the left arm, grab the gray bottle with slight shine and shake it horizontally.",
+    "Pick up the bottle with cute ghost drawing using the left arm and shake sideways.",
+    "Take the bottle with cute ghost drawing in the left arm and shake it back and forth.",
+    "Hold the rounded body bottle made of plastic and move it side to side.",
+    "Grab the hand-sized bottle with screw cap and move it side-to-side repeatedly.",
+    "Hold the light gray colored container bottle with the left arm and shake horizontally.",
+    "Pick up the bottle with cute ghost drawing using the left arm, shake it horizontally.",
+    "Using the left arm, grab the bottle with cute ghost drawing and shake it sideways.",
+    "Pick up the smooth cylindrical bottle with the left arm, shake it sideways.",
+    "Grip the smooth cylindrical bottle, then shake it back and forth.",
+    "Shake the smooth surface bottle with gray shade smoothly without using the left arm reference.",
+    "Take hold of the smooth surface bottle with gray shade using the left arm and move horizontally."
+  ],
+  "unseen": [
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm and shake horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grab the light gray bottle with the left arm and shake horizontally.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Use the left arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm and shake horizontally.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Use the left arm to pick the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle with the left arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the left arm and shake horizontally.",
+    "Use the left arm to hold the light gray bottle and shake sideways.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the left arm to pick the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the left arm and shake horizontally.",
+    "Use the left arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Use the left arm to pick the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks with the left arm, shake horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode3.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d0b35e738ab76fe9e2c84f568f0541e0323864
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the blue bottle using the right arm and move horizontally.",
+    "Grab the blue bottle and move it side-to-side repeatedly.",
+    "Pick up the medium-sized bottle and shake it from side to side.",
+    "Use the right arm to grab the bottle with blue cap and move it horizontally.",
+    "Grab the white bottle with blue accents, shake it horizontally, then release.",
+    "Utilize the right arm to grab the medium bottle for beverages and shake sideways.",
+    "Grab the smooth plastic bottle and shake in a horizontal motion.",
+    "Lift the white bottle with blue accents using the right arm and shake it sideways.",
+    "Pick up the plastic bottle using the right arm, shake it horizontally.",
+    "Use the right arm to grab the bottle for liquids and shake horizontally.",
+    "Grip the medium bottle for beverages, then shake it back and forth.",
+    "Pick up the medium-sized bottle with the right arm, shake it sideways.",
+    "Using the right arm, pick up the plastic bottle and shake sideways.",
+    "Lift the smooth plastic bottle with the right arm, then shake it side to side.",
+    "Use the right arm to hold the blue bottle with label firmly and shake horizontally.",
+    "Pick up the blue bottle with label and shake it horizontally.",
+    "Pick the blue bottle, then shake it horizontally.",
+    "Hold the white bottle with blue accents with the right arm and move it left and right.",
+    "Using the right arm, shake the handheld bottle horizontally.",
+    "Lift the blue bottle with label and move it back and forth.",
+    "Shake the bottle for liquids smoothly without using the right arm reference.",
+    "Use the right arm to hold the medium-sized bottle and shake it sideways.",
+    "With the right arm, grab the plastic bottle and shake it horizontally.",
+    "Using the right arm, grab the blue bottle with label and shake it sideways.",
+    "Shake the blue bottle horizontally after lifting with the right arm.",
+    "Pick up the white bottle with blue accents and shake it side to side.",
+    "Hold the blue bottle with label and move it side to side.",
+    "Hold the blue bottle with label using the right arm and shake it horizontally.",
+    "Grab and shake the medium-sized bottle horizontally without mentioning the right arm.",
+    "Pick the medium bottle for beverages up and shake it horizontally.",
+    "Hold the plastic bottle and move it side to side.",
+    "Secure the blue bottle with label with the right arm, shake in horizontal motion.",
+    "Hold the handheld bottle steady and shake it horizontally.",
+    "Hold the blue bottle with label and shake it side to side.",
+    "Hold the white and blue bottle with the right arm and shake horizontally.",
+    "Shake the bottle for liquids side-to-side after grabbing it.",
+    "Move the cylindrical bottle side-to-side after grabbing it.",
+    "Shake the blue bottle with label from side to side.",
+    "Use the right arm to pick the blue bottle with label and shake it horizontally.",
+    "Lift the bottle with blue cap and shake it horizontally.",
+    "Grab the white bottle with blue accents using the right arm and move it side-to-side.",
+    "Lift the white bottle with blue accents and move it side-to-side.",
+    "Shake the medium-sized bottle side-to-side after grabbing it.",
+    "Grab the handheld bottle with the right arm and shake horizontally.",
+    "Pick up the handheld bottle using the right arm and shake sideways.",
+    "Shake the medium-sized bottle horizontally without mentioning the right arm.",
+    "Simply shake the blue bottle horizontally without the right arm details.",
+    "Lift the bottle for liquids using the right arm and shake horizontally.",
+    "Take the plastic bottle in the right arm and shake it back and forth.",
+    "Pick the plastic bottle using the right arm and move it horizontally.",
+    "Take hold of the medium bottle for beverages using the right arm and move horizontally.",
+    "Grab the blue bottle with label and move it side-to-side repeatedly.",
+    "Pick up the medium-sized bottle and shake it from side to side.",
+    "Use the right arm to grab the medium bottle for beverages and move it horizontally.",
+    "Grab the white and blue bottle, shake it horizontally, then release.",
+    "Utilize the right arm to grab the bottle with blue cap and shake sideways.",
+    "Grab the smooth plastic bottle and shake in a horizontal motion.",
+    "Lift the bottle with blue cap using the right arm and shake it sideways.",
+    "Pick up the blue bottle with label using the right arm, shake it horizontally.",
+    "Use the right arm to grab the white bottle with blue accents and shake horizontally.",
+    "Grip the smooth plastic bottle, then shake it back and forth.",
+    "Pick up the handheld bottle with the right arm, shake it sideways.",
+    "Using the right arm, pick up the smooth plastic bottle and shake sideways.",
+    "Lift the blue bottle with the right arm, then shake it side to side.",
+    "Use the right arm to hold the smooth plastic bottle firmly and shake horizontally.",
+    "Pick up the medium bottle for beverages and shake it horizontally.",
+    "Pick the medium bottle for beverages, then shake it horizontally.",
+    "Hold the handheld bottle with the right arm and move it left and right.",
+    "Using the right arm, shake the medium bottle for beverages horizontally.",
+    "Lift the bottle for liquids and move it back and forth.",
+    "Shake the handheld bottle smoothly without using the right arm reference.",
+    "Use the right arm to hold the cylindrical bottle and shake it sideways.",
+    "With the right arm, grab the bottle with blue cap and shake it horizontally.",
+    "Using the right arm, grab the handheld bottle and shake it sideways.",
+    "Shake the medium bottle for beverages horizontally after lifting with the right arm.",
+    "Pick up the white and blue bottle and shake it side to side.",
+    "Hold the plastic bottle and move it side to side.",
+    "Hold the bottle with blue cap using the right arm and shake it horizontally.",
+    "Grab and shake the handheld bottle horizontally without mentioning the right arm.",
+    "Pick the bottle with blue cap up and shake it horizontally.",
+    "Hold the smooth plastic bottle and move it side to side.",
+    "Secure the bottle with blue cap with the right arm, shake in horizontal motion.",
+    "Hold the bottle for liquids steady and shake it horizontally.",
+    "Hold the medium bottle for beverages and shake it side to side.",
+    "Hold the white and blue bottle with the right arm and shake horizontally.",
+    "Shake the smooth plastic bottle side-to-side after grabbing it.",
+    "Move the white bottle with blue accents side-to-side after grabbing it.",
+    "Shake the handheld bottle from side to side.",
+    "Use the right arm to pick the blue bottle with label and shake it horizontally.",
+    "Lift the plastic bottle and shake it horizontally.",
+    "Grab the bottle for liquids using the right arm and move it side-to-side.",
+    "Lift the plastic bottle and move it side-to-side.",
+    "Shake the blue bottle side-to-side after grabbing it.",
+    "Grab the handheld bottle with the right arm and shake horizontally.",
+    "Pick up the white and blue bottle using the right arm and shake sideways.",
+    "Shake the smooth plastic bottle horizontally without mentioning the right arm.",
+    "Simply shake the plastic bottle horizontally without the right arm details.",
+    "Lift the cylindrical bottle using the right arm and shake horizontally.",
+    "Take the handheld bottle in the right arm and shake it back and forth.",
+    "Pick the bottle with blue cap using the right arm and move it horizontally."
+  ],
+  "unseen": [
+    "Grip the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the bottle with ridged neck, shake it horizontally.",
+    "Use the right arm to hold the bottle with ridged neck and shake sideways.",
+    "Grab the bottle with ridged neck and shake it horizontally.",
+    "Grab the blue-capped plastic bottle with the right arm, shake horizontally.",
+    "Grab the bottle with ridged neck with the right arm and shake horizontally.",
+    "Shake the bottle with ridged neck horizontally after grabbing.",
+    "Use the right arm to pick the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck side-to-side after picking it up.",
+    "Shake the bottle with ridged neck horizontally after grabbing it.",
+    "Grip the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with ridged neck, shake it horizontally.",
+    "Use the right arm to hold the blue-capped plastic bottle and shake sideways.",
+    "Grab the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with ridged neck with the right arm, shake horizontally.",
+    "Grab the bottle with ridged neck with the right arm and shake horizontally.",
+    "Shake the bottle with ridged neck horizontally after grabbing.",
+    "Use the right arm to pick the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design side-to-side after picking it up.",
+    "Shake the blue-capped plastic bottle horizontally after grabbing it.",
+    "Grip the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the blue-capped plastic bottle, shake it horizontally.",
+    "Use the right arm to hold the bottle with ridged neck and shake sideways.",
+    "Grab the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with ridged neck with the right arm, shake horizontally.",
+    "Grab the blue-capped plastic bottle with the right arm and shake horizontally.",
+    "Shake the bottle with ridged neck horizontally after grabbing.",
+    "Use the right arm to pick the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle side-to-side after picking it up.",
+    "Shake the bottle with ridged neck horizontally after grabbing it.",
+    "Grip the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the bottle with ridged neck, shake it horizontally.",
+    "Use the right arm to hold the bottle with curved neck design and shake sideways.",
+    "Grab the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with ridged neck with the right arm, shake horizontally.",
+    "Grab the bottle with ridged neck with the right arm and shake horizontally.",
+    "Shake the blue-capped plastic bottle horizontally after grabbing.",
+    "Use the right arm to pick the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design side-to-side after picking it up.",
+    "Shake the bottle with ridged neck horizontally after grabbing it.",
+    "Grip the bottle with ridged neck and shake it horizontally.",
+    "Grab the bottle with curved neck design, shake it horizontally.",
+    "Use the right arm to hold the bottle with ridged neck and shake sideways.",
+    "Grab the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the bottle with ridged neck with the right arm, shake horizontally.",
+    "Grab the bottle with ridged neck with the right arm and shake horizontally.",
+    "Shake the bottle with curved neck design horizontally after grabbing.",
+    "Use the right arm to pick the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design side-to-side after picking it up.",
+    "Shake the blue-capped plastic bottle horizontally after grabbing it.",
+    "Grip the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the blue-capped plastic bottle, shake it horizontally.",
+    "Use the right arm to hold the bottle with ridged neck and shake sideways.",
+    "Grab the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with ridged neck with the right arm, shake horizontally.",
+    "Grab the blue-capped plastic bottle with the right arm and shake horizontally.",
+    "Shake the bottle with ridged neck horizontally after grabbing.",
+    "Use the right arm to pick the bottle with ridged neck and shake it.",
+    "Shake the blue-capped plastic bottle side-to-side after picking it up.",
+    "Shake the bottle with curved neck design horizontally after grabbing it.",
+    "Grip the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with ridged neck, shake it horizontally.",
+    "Use the right arm to hold the bottle with curved neck design and shake sideways.",
+    "Grab the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the blue-capped plastic bottle with the right arm, shake horizontally.",
+    "Grab the bottle with ridged neck with the right arm and shake horizontally.",
+    "Shake the blue-capped plastic bottle horizontally after grabbing.",
+    "Use the right arm to pick the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with ridged neck side-to-side after picking it up.",
+    "Shake the bottle with ridged neck horizontally after grabbing it.",
+    "Grip the blue-capped plastic bottle and shake it horizontally.",
+    "Grab the bottle with ridged neck, shake it horizontally.",
+    "Use the right arm to hold the blue-capped plastic bottle and shake sideways.",
+    "Grab the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with curved neck design with the right arm, shake horizontally.",
+    "Grab the blue-capped plastic bottle with the right arm and shake horizontally.",
+    "Shake the bottle with curved neck design horizontally after grabbing.",
+    "Use the right arm to pick the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with ridged neck side-to-side after picking it up.",
+    "Shake the bottle with ridged neck horizontally after grabbing it.",
+    "Grip the bottle with ridged neck and shake it horizontally.",
+    "Grab the bottle with curved neck design, shake it horizontally.",
+    "Use the right arm to hold the bottle with curved neck design and shake sideways.",
+    "Grab the bottle with ridged neck and shake it horizontally.",
+    "Grab the blue-capped plastic bottle with the right arm, shake horizontally.",
+    "Grab the bottle with curved neck design with the right arm and shake horizontally.",
+    "Shake the bottle with ridged neck horizontally after grabbing.",
+    "Use the right arm to pick the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design side-to-side after picking it up.",
+    "Shake the bottle with ridged neck horizontally after grabbing it.",
+    "Grip the bottle with curved neck design and shake it horizontally.",
+    "Grab the bottle with curved neck design, shake it horizontally.",
+    "Use the right arm to hold the bottle with ridged neck and shake sideways.",
+    "Grab the bottle with ridged neck and shake it horizontally.",
+    "Grab the bottle with ridged neck with the right arm, shake horizontally.",
+    "Grab the bottle with curved neck design with the right arm and shake horizontally.",
+    "Shake the bottle with curved neck design horizontally after grabbing.",
+    "Use the right arm to pick the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle side-to-side after picking it up.",
+    "Shake the bottle with curved neck design horizontally after grabbing it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode4.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7744dbf19cff676341fed569061b59e2c876ffa
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to grab the bottle with cute ghost drawing and shake sideways.",
+    "Pick up the smooth cylindrical bottle and shake it side to side.",
+    "Hold the medium cylinder-shaped bottle steady and shake it horizontally.",
+    "Hold the gray bottle with slight shine and move it side to side.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake horizontally.",
+    "Secure the plastic bottle with ghost print with the right arm, shake in horizontal motion.",
+    "Grab and shake the gray bottle with slight shine horizontally without mentioning the right arm.",
+    "Pick the smooth cylindrical bottle using the right arm and move it horizontally.",
+    "Shake the rounded body bottle made of plastic side-to-side after grabbing it.",
+    "Move the gray bottle with slight shine side-to-side after grabbing it.",
+    "Grab the bottle with cute ghost drawing, shake it horizontally, then release.",
+    "Pick up the smooth surface bottle with gray shade using the right arm and shake sideways.",
+    "Use the right arm to hold the rounded body bottle made of plastic firmly and shake horizontally.",
+    "Simply shake the medium-sized plastic bottle horizontally without the right arm details.",
+    "Take hold of the smooth surface bottle with gray shade using the right arm and move horizontally.",
+    "Pick up the medium-sized plastic bottle and shake it horizontally.",
+    "Grab the bottle shaped like small cylinder and move it side-to-side repeatedly.",
+    "With the right arm, grab the medium cylinder-shaped bottle and shake it horizontally.",
+    "Hold the light gray colored container bottle with the right arm and move it left and right.",
+    "Shake the medium-sized plastic bottle side-to-side after grabbing it.",
+    "Pick the bottle with cute ghost drawing, then shake it horizontally.",
+    "Grab the light gray colored container bottle using the right arm and move it side-to-side.",
+    "Hold the rounded body bottle made of plastic and shake it side to side.",
+    "Pick up the medium cylinder-shaped bottle and shake it from side to side.",
+    "Lift the smooth cylindrical bottle and move it back and forth.",
+    "Take the gray bottle with slight shine in the right arm and shake it back and forth.",
+    "Lift the plastic bottle with ghost print and move it side-to-side.",
+    "Grab the smooth surface bottle with gray shade and shake in a horizontal motion.",
+    "Hold the light gray colored container bottle and move it side to side.",
+    "Using the right arm, grab the bottle shaped like small cylinder and shake it sideways.",
+    "Shake the smooth surface bottle with gray shade from side to side.",
+    "Using the right arm, pick up the light gray colored container bottle and shake sideways.",
+    "Grip the bottle with cute ghost drawing, then shake it back and forth.",
+    "Lift the plastic bottle with ghost print using the right arm and shake it sideways.",
+    "Hold the gray bottle with slight shine using the right arm and shake it horizontally.",
+    "Pick the light gray colored container bottle up and shake it horizontally.",
+    "Lift the milk-bottle shape design using the right arm and shake horizontally.",
+    "Use the right arm to pick the rounded body bottle made of plastic and shake it horizontally.",
+    "Shake the hand-sized bottle with screw cap horizontally after lifting with the right arm.",
+    "Shake the hand-sized bottle with screw cap horizontally without mentioning the right arm.",
+    "Using the right arm, shake the milk-bottle shape design horizontally.",
+    "Grab the bottle shaped like small cylinder with the right arm and shake horizontally.",
+    "Pick up the gray bottle with slight shine using the right arm, shake it horizontally.",
+    "Use the right arm to hold the medium cylinder-shaped bottle and shake it sideways.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake horizontally.",
+    "Shake the smooth surface bottle with gray shade smoothly without using the right arm reference.",
+    "Use the right arm to grab the plastic bottle with ghost print and move it horizontally.",
+    "Lift the hand-sized bottle with screw cap with the right arm, then shake it side to side.",
+    "Pick up the milk-bottle shape design with the right arm, shake it sideways.",
+    "Lift the milk-bottle shape design and shake it horizontally.",
+    "Utilize the right arm to grab the light gray colored container bottle and shake sideways.",
+    "Pick up the light gray colored container bottle and shake it side to side.",
+    "Hold the smooth surface bottle with gray shade steady and shake it horizontally.",
+    "Hold the hand-sized bottle with screw cap and move it side to side.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake horizontally.",
+    "Secure the gray bottle with slight shine with the right arm, shake in horizontal motion.",
+    "Grab and shake the medium-sized plastic bottle horizontally without mentioning the right arm.",
+    "Pick the bottle with cute ghost drawing using the right arm and move it horizontally.",
+    "Shake the gray bottle with slight shine side-to-side after grabbing it.",
+    "Move the hand-sized bottle with screw cap side-to-side after grabbing it.",
+    "Grab the medium-sized plastic bottle, shake it horizontally, then release.",
+    "Pick up the medium-sized plastic bottle using the right arm and shake sideways.",
+    "Use the right arm to hold the milk-bottle shape design firmly and shake horizontally.",
+    "Simply shake the hand-sized bottle with screw cap horizontally without the right arm details.",
+    "Take hold of the smooth cylindrical bottle using the right arm and move horizontally.",
+    "Pick up the smooth cylindrical bottle and shake it horizontally.",
+    "Grab the hand-sized bottle with screw cap and move it side-to-side repeatedly.",
+    "With the right arm, grab the hand-sized bottle with screw cap and shake it horizontally.",
+    "Hold the light gray colored container bottle with the right arm and move it left and right.",
+    "Shake the plastic bottle with ghost print side-to-side after grabbing it.",
+    "Pick the bottle shaped like small cylinder, then shake it horizontally.",
+    "Grab the light gray colored container bottle using the right arm and move it side-to-side.",
+    "Hold the medium-sized plastic bottle and shake it side to side.",
+    "Pick up the light gray colored container bottle and shake it from side to side.",
+    "Lift the bottle with cute ghost drawing and move it back and forth.",
+    "Take the smooth surface bottle with gray shade in the right arm and shake it back and forth.",
+    "Lift the hand-sized bottle with screw cap and move it side-to-side.",
+    "Grab the hand-sized bottle with screw cap and shake in a horizontal motion.",
+    "Hold the light gray colored container bottle and move it side to side.",
+    "Using the right arm, grab the bottle shaped like small cylinder and shake it sideways.",
+    "Shake the medium cylinder-shaped bottle from side to side.",
+    "Using the right arm, pick up the rounded body bottle made of plastic and shake sideways.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Lift the milk-bottle shape design using the right arm and shake it sideways.",
+    "Hold the plastic bottle with ghost print using the right arm and shake it horizontally.",
+    "Pick the rounded body bottle made of plastic up and shake it horizontally.",
+    "Lift the smooth cylindrical bottle using the right arm and shake horizontally.",
+    "Use the right arm to pick the smooth cylindrical bottle and shake it horizontally.",
+    "Shake the smooth surface bottle with gray shade horizontally after lifting with the right arm.",
+    "Shake the smooth cylindrical bottle horizontally without mentioning the right arm.",
+    "Using the right arm, shake the bottle shaped like small cylinder horizontally.",
+    "Grab the smooth cylindrical bottle with the right arm and shake horizontally.",
+    "Pick up the plastic bottle with ghost print using the right arm, shake it horizontally.",
+    "Use the right arm to hold the milk-bottle shape design and shake it sideways.",
+    "Use the right arm to grab the light gray colored container bottle and shake horizontally.",
+    "Shake the hand-sized bottle with screw cap smoothly without using the right arm reference.",
+    "Use the right arm to grab the gray bottle with slight shine and move it horizontally.",
+    "Lift the light gray colored container bottle with the right arm, then shake it side to side.",
+    "Pick up the smooth surface bottle with gray shade with the right arm, shake it sideways.",
+    "Lift the smooth cylindrical bottle and shake it horizontally."
+  ],
+  "unseen": [
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Use the right arm to hold the bottle with rounded cap top and shake sideways.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the light gray bottle with the right arm, shake horizontally.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Use the right arm to pick the gray bottle for holding drinks and shake it.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle with the right arm, shake horizontally.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Use the right arm to pick the gray bottle for holding drinks and shake it.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Grab the bottle with rounded cap top and shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode5.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c777bb06a04cd986979f528fd63d0378e409ce07
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the medium-sized plastic bottle and shake it sideways.",
+    "Pick up the gray bottle with slight shine and shake it horizontally.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Pick up the bottle shaped like small cylinder using the right arm and shake sideways.",
+    "Grab the bottle with cute ghost drawing and move it side-to-side repeatedly.",
+    "With the right arm, grab the rounded body bottle made of plastic and shake it horizontally.",
+    "Use the right arm to grab the smooth cylindrical bottle and move it horizontally.",
+    "Hold the bottle with cute ghost drawing and move it side to side.",
+    "Lift the plastic bottle with ghost print and shake it horizontally.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake horizontally.",
+    "Lift the medium-sized plastic bottle and move it back and forth.",
+    "Use the right arm to pick the smooth cylindrical bottle and shake it horizontally.",
+    "Using the right arm, pick up the light gray colored container bottle and shake sideways.",
+    "Using the right arm, grab the bottle shaped like small cylinder and shake it sideways.",
+    "Shake the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Move the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Take hold of the hand-sized bottle with screw cap using the right arm and move horizontally.",
+    "Shake the gray bottle with slight shine horizontally after lifting with the right arm.",
+    "Hold the medium cylinder-shaped bottle steady and shake it horizontally.",
+    "Hold the plastic bottle with ghost print with the right arm and shake horizontally.",
+    "Hold the bottle with cute ghost drawing with the right arm and move it left and right.",
+    "Lift the light gray colored container bottle with the right arm, then shake it side to side.",
+    "Grab and shake the hand-sized bottle with screw cap horizontally without mentioning the right arm.",
+    "Pick up the rounded body bottle made of plastic with the right arm, shake it sideways.",
+    "Shake the smooth surface bottle with gray shade horizontally without mentioning the right arm.",
+    "Simply shake the bottle shaped like small cylinder horizontally without the right arm details.",
+    "Hold the bottle shaped like small cylinder using the right arm and shake it horizontally.",
+    "Pick the plastic bottle with ghost print, then shake it horizontally.",
+    "Hold the medium cylinder-shaped bottle and move it side to side.",
+    "Pick the bottle shaped like small cylinder up and shake it horizontally.",
+    "Lift the plastic bottle with ghost print using the right arm and shake it sideways.",
+    "Shake the medium-sized plastic bottle smoothly without using the right arm reference.",
+    "Pick up the medium cylinder-shaped bottle and shake it from side to side.",
+    "Pick up the bottle shaped like small cylinder using the right arm, shake it horizontally.",
+    "Using the right arm, shake the smooth cylindrical bottle horizontally.",
+    "Grab the light gray colored container bottle and shake in a horizontal motion.",
+    "Pick up the rounded body bottle made of plastic and shake it side to side.",
+    "Hold the gray bottle with slight shine and shake it side to side.",
+    "Utilize the right arm to grab the smooth cylindrical bottle and shake sideways.",
+    "Grab the smooth surface bottle with gray shade with the right arm and shake horizontally.",
+    "Grab the medium cylinder-shaped bottle, shake it horizontally, then release.",
+    "Shake the medium cylinder-shaped bottle from side to side.",
+    "Use the right arm to hold the smooth cylindrical bottle firmly and shake horizontally.",
+    "Grab the medium-sized plastic bottle using the right arm and move it side-to-side.",
+    "Take the medium cylinder-shaped bottle in the right arm and shake it back and forth.",
+    "Lift the light gray colored container bottle using the right arm and shake horizontally.",
+    "Secure the bottle shaped like small cylinder with the right arm, shake in horizontal motion.",
+    "Lift the plastic bottle with ghost print and move it side-to-side.",
+    "Pick the rounded body bottle made of plastic using the right arm and move it horizontally.",
+    "Shake the light gray colored container bottle side-to-side after grabbing it.",
+    "Use the right arm to hold the bottle with cute ghost drawing and shake it sideways.",
+    "Pick up the milk-bottle shape design and shake it horizontally.",
+    "Grip the medium cylinder-shaped bottle, then shake it back and forth.",
+    "Pick up the medium cylinder-shaped bottle using the right arm and shake sideways.",
+    "Grab the smooth cylindrical bottle and move it side-to-side repeatedly.",
+    "With the right arm, grab the medium-sized plastic bottle and shake it horizontally.",
+    "Use the right arm to grab the light gray colored container bottle and move it horizontally.",
+    "Hold the hand-sized bottle with screw cap and move it side to side.",
+    "Lift the milk-bottle shape design and shake it horizontally.",
+    "Use the right arm to grab the bottle with cute ghost drawing and shake horizontally.",
+    "Lift the light gray colored container bottle and move it back and forth.",
+    "Use the right arm to pick the bottle with cute ghost drawing and shake it horizontally.",
+    "Using the right arm, pick up the smooth surface bottle with gray shade and shake sideways.",
+    "Using the right arm, grab the gray bottle with slight shine and shake it sideways.",
+    "Shake the medium cylinder-shaped bottle side-to-side after grabbing it.",
+    "Move the bottle shaped like small cylinder side-to-side after grabbing it.",
+    "Take hold of the smooth surface bottle with gray shade using the right arm and move horizontally.",
+    "Shake the milk-bottle shape design horizontally after lifting with the right arm.",
+    "Hold the smooth cylindrical bottle steady and shake it horizontally.",
+    "Hold the medium-sized plastic bottle with the right arm and shake horizontally.",
+    "Hold the medium-sized plastic bottle with the right arm and move it left and right.",
+    "Lift the smooth surface bottle with gray shade with the right arm, then shake it side to side.",
+    "Grab and shake the bottle shaped like small cylinder horizontally without mentioning the right arm.",
+    "Pick up the bottle shaped like small cylinder with the right arm, shake it sideways.",
+    "Shake the hand-sized bottle with screw cap horizontally without mentioning the right arm.",
+    "Simply shake the bottle with cute ghost drawing horizontally without the right arm details.",
+    "Hold the bottle shaped like small cylinder using the right arm and shake it horizontally.",
+    "Pick the hand-sized bottle with screw cap, then shake it horizontally.",
+    "Hold the hand-sized bottle with screw cap and move it side to side.",
+    "Pick the milk-bottle shape design up and shake it horizontally.",
+    "Lift the smooth surface bottle with gray shade using the right arm and shake it sideways.",
+    "Shake the smooth cylindrical bottle smoothly without using the right arm reference.",
+    "Pick up the rounded body bottle made of plastic and shake it from side to side.",
+    "Pick up the gray bottle with slight shine using the right arm, shake it horizontally.",
+    "Using the right arm, shake the gray bottle with slight shine horizontally.",
+    "Grab the medium-sized plastic bottle and shake in a horizontal motion.",
+    "Pick up the smooth cylindrical bottle and shake it side to side.",
+    "Hold the milk-bottle shape design and shake it side to side.",
+    "Utilize the right arm to grab the gray bottle with slight shine and shake sideways.",
+    "Grab the light gray colored container bottle with the right arm and shake horizontally.",
+    "Grab the bottle shaped like small cylinder, shake it horizontally, then release.",
+    "Shake the plastic bottle with ghost print from side to side.",
+    "Use the right arm to hold the gray bottle with slight shine firmly and shake horizontally.",
+    "Grab the smooth cylindrical bottle using the right arm and move it side-to-side.",
+    "Take the medium-sized plastic bottle in the right arm and shake it back and forth.",
+    "Lift the plastic bottle with ghost print using the right arm and shake horizontally.",
+    "Secure the medium cylinder-shaped bottle with the right arm, shake in horizontal motion.",
+    "Lift the smooth cylindrical bottle and move it side-to-side.",
+    "Pick the medium cylinder-shaped bottle using the right arm and move it horizontally.",
+    "Shake the medium-sized plastic bottle side-to-side after grabbing it."
+  ],
+  "unseen": [
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Use the right arm to pick the gray bottle for holding drinks and shake it.",
+    "Grip the bottle with rounded cap top and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Grab the light gray bottle with the right arm, shake horizontally.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the right arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the right arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Use the right arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the gray bottle for holding drinks, shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Shake the bottle with rounded cap top side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the bottle with rounded cap top horizontally after grabbing it.",
+    "Grab the bottle with rounded cap top and shake it horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the light gray bottle with the right arm and shake horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Use the right arm to hold the light gray bottle and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Use the right arm to pick the gray bottle for holding drinks and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the bottle with rounded cap top with the right arm, shake horizontally.",
+    "Grab the bottle with rounded cap top with the right arm and shake horizontally.",
+    "Shake the light gray bottle horizontally after grabbing.",
+    "Grab the bottle with rounded cap top, shake it horizontally.",
+    "Use the right arm to hold the bottle with rounded cap top and shake sideways.",
+    "Shake the light gray bottle side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with rounded cap top and shake it.",
+    "Grip the gray bottle for holding drinks and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the light gray bottle and shake it horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm and shake horizontally.",
+    "Shake the gray bottle for holding drinks horizontally after grabbing.",
+    "Grab the light gray bottle, shake it horizontally.",
+    "Use the right arm to hold the gray bottle for holding drinks and shake sideways.",
+    "Shake the gray bottle for holding drinks side-to-side after picking it up.",
+    "Use the right arm to pick the light gray bottle and shake it.",
+    "Grip the light gray bottle and shake it horizontally.",
+    "Shake the light gray bottle horizontally after grabbing it.",
+    "Grab the gray bottle for holding drinks and shake it horizontally.",
+    "Grab the gray bottle for holding drinks with the right arm, shake horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode6.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..d268afcfc949dc9322a2f743f0c4912620e9f465
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the cylindrical orange and white bottle side-to-side after grabbing it.",
+    "Pick up the orange bottle using the left arm, shake it horizontally.",
+    "Lift the bottle with ribbed orange bottom using the left arm and shake horizontally.",
+    "Using the left arm, shake the cylindrical orange and white bottle horizontally.",
+    "Grab the orange and white bottle with cap, shake it horizontally, then release.",
+    "Use the left arm to pick the cylindrical orange and white bottle and shake it horizontally.",
+    "Secure the plastic bottle with the left arm, shake in horizontal motion.",
+    "Pick up the medium orange bottle and shake it side to side.",
+    "Lift the orange and white bottle with cap with the left arm, then shake it side to side.",
+    "Use the left arm to grab the bottle with orange cap and move it horizontally.",
+    "Pick up the orange and white bottle with cap and shake it horizontally.",
+    "Grab the plastic bottle and shake in a horizontal motion.",
+    "Hold the medium orange bottle with the left arm and move it left and right.",
+    "Hold the smooth plastic bottle with the left arm and shake horizontally.",
+    "Hold the bottle with ribbed orange bottom and move it side to side.",
+    "Lift the white and orange plastic bottle and move it back and forth.",
+    "Hold the plastic bottle steady and shake it horizontally.",
+    "Grab and shake the cylindrical orange and white bottle horizontally without mentioning the left arm.",
+    "Hold the drinking bottle with yellow label and move it side to side.",
+    "Pick up the bottle with ribbed orange bottom and shake it from side to side.",
+    "Grab the bottle with ribbed orange bottom and move it side-to-side repeatedly.",
+    "Shake the bottle with orange cap smoothly without using the left arm reference.",
+    "Move the cylindrical orange and white bottle side-to-side after grabbing it.",
+    "Hold the smooth plastic bottle using the left arm and shake it horizontally.",
+    "Use the left arm to hold the white and orange plastic bottle firmly and shake horizontally.",
+    "Use the left arm to hold the plastic bottle and shake it sideways.",
+    "Pick the medium bottle with orange lid using the left arm and move it horizontally.",
+    "Shake the orange bottle from side to side.",
+    "Grab the drinking bottle with yellow label using the left arm and move it side-to-side.",
+    "Using the left arm, grab the orange bottle and shake it sideways.",
+    "Use the left arm to grab the smooth plastic bottle and shake horizontally.",
+    "Using the left arm, pick up the drinking bottle with yellow label and shake sideways.",
+    "Simply shake the orange and white bottle with cap horizontally without the left arm details.",
+    "Lift the yellow label bottle using the left arm and shake it sideways.",
+    "Pick the cylindrical orange and white bottle up and shake it horizontally.",
+    "Lift the orange bottle and move it side-to-side.",
+    "Shake the bottle with orange cap side-to-side after grabbing it.",
+    "With the left arm, grab the medium orange bottle and shake it horizontally.",
+    "Grip the plastic bottle, then shake it back and forth.",
+    "Take hold of the orange and white bottle with cap using the left arm and move horizontally.",
+    "Grab the smooth plastic bottle with the left arm and shake horizontally.",
+    "Hold the drinking bottle with yellow label and shake it side to side.",
+    "Shake the bottle with ribbed orange bottom horizontally without mentioning the left arm.",
+    "Shake the bottle with orange cap horizontally after lifting with the left arm.",
+    "Pick the plastic bottle, then shake it horizontally.",
+    "Pick up the medium orange bottle using the left arm and shake sideways.",
+    "Lift the orange and white bottle with cap and shake it horizontally.",
+    "Pick up the yellow label bottle with the left arm, shake it sideways.",
+    "Take the bottle with orange cap in the left arm and shake it back and forth.",
+    "Utilize the left arm to grab the orange bottle and shake sideways.",
+    "Shake the smooth plastic bottle side-to-side after grabbing it.",
+    "Pick up the orange bottle using the left arm, shake it horizontally.",
+    "Lift the cylindrical orange and white bottle using the left arm and shake horizontally.",
+    "Using the left arm, shake the bottle with ribbed orange bottom horizontally.",
+    "Grab the smooth plastic bottle, shake it horizontally, then release.",
+    "Use the left arm to pick the orange bottle and shake it horizontally.",
+    "Secure the cylindrical orange and white bottle with the left arm, shake in horizontal motion.",
+    "Pick up the plastic bottle and shake it side to side.",
+    "Lift the bottle with orange cap with the left arm, then shake it side to side.",
+    "Use the left arm to grab the medium orange bottle and move it horizontally.",
+    "Pick up the bottle with ribbed orange bottom and shake it horizontally.",
+    "Grab the drinking bottle with yellow label and shake in a horizontal motion.",
+    "Hold the bottle with orange cap with the left arm and move it left and right.",
+    "Hold the drinking bottle with yellow label with the left arm and shake horizontally.",
+    "Hold the drinking bottle with yellow label and move it side to side.",
+    "Lift the orange bottle and move it back and forth.",
+    "Hold the medium bottle with orange lid steady and shake it horizontally.",
+    "Grab and shake the smooth plastic bottle horizontally without mentioning the left arm.",
+    "Hold the drinking bottle with yellow label and move it side to side.",
+    "Pick up the plastic bottle and shake it from side to side.",
+    "Grab the plastic bottle and move it side-to-side repeatedly.",
+    "Shake the orange bottle smoothly without using the left arm reference.",
+    "Move the bottle with orange cap side-to-side after grabbing it.",
+    "Hold the drinking bottle with yellow label using the left arm and shake it horizontally.",
+    "Use the left arm to hold the plastic bottle firmly and shake horizontally.",
+    "Use the left arm to hold the bottle with orange cap and shake it sideways.",
+    "Pick the bottle with ribbed orange bottom using the left arm and move it horizontally.",
+    "Shake the orange and white bottle with cap from side to side.",
+    "Grab the plastic bottle using the left arm and move it side-to-side.",
+    "Using the left arm, grab the white and orange plastic bottle and shake it sideways.",
+    "Use the left arm to grab the plastic bottle and shake horizontally.",
+    "Using the left arm, pick up the orange bottle and shake sideways.",
+    "Simply shake the bottle with orange cap horizontally without the left arm details.",
+    "Lift the plastic bottle using the left arm and shake it sideways.",
+    "Pick the orange and white bottle with cap up and shake it horizontally.",
+    "Lift the orange bottle and move it side-to-side.",
+    "Shake the orange and white bottle with cap side-to-side after grabbing it.",
+    "With the left arm, grab the bottle with orange cap and shake it horizontally.",
+    "Grip the white and orange plastic bottle, then shake it back and forth.",
+    "Take hold of the orange and white bottle with cap using the left arm and move horizontally.",
+    "Grab the white and orange plastic bottle with the left arm and shake horizontally.",
+    "Hold the cylindrical orange and white bottle and shake it side to side.",
+    "Shake the orange and white bottle with cap horizontally without mentioning the left arm.",
+    "Shake the orange bottle horizontally after lifting with the left arm.",
+    "Pick the bottle with orange cap, then shake it horizontally.",
+    "Pick up the medium bottle with orange lid using the left arm and shake sideways.",
+    "Lift the orange and white bottle with cap and shake it horizontally.",
+    "Pick up the cylindrical orange and white bottle with the left arm, shake it sideways.",
+    "Take the smooth plastic bottle in the left arm and shake it back and forth.",
+    "Utilize the left arm to grab the smooth plastic bottle and shake sideways."
+  ],
+  "unseen": [
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the bottle with curved body with the left arm and shake horizontally.",
+    "Grip the bottle with yellow sticker label and shake it horizontally.",
+    "Use the left arm to hold the bottle with curved body and shake sideways.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with curved body and shake it.",
+    "Grab the bottle with curved body with the left arm, shake horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the bottle with yellow sticker label and shake it horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the curvy orange bottle with white section, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the left arm and shake horizontally.",
+    "Grip the curvy orange bottle with white section and shake it horizontally.",
+    "Use the left arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with curved body and shake it.",
+    "Grab the bottle with curved body with the left arm, shake horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with yellow sticker label with the left arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the left arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section with the left arm, shake horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section and shake it horizontally.",
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with curved body with the left arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the left arm to hold the bottle with curved body and shake sideways.",
+    "Shake the bottle with curved body side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section with the left arm, shake horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with yellow sticker label with the left arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the left arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label with the left arm, shake horizontally.",
+    "Shake the bottle with curved body horizontally after grabbing.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the bottle with yellow sticker label with the left arm and shake horizontally.",
+    "Grip the curvy orange bottle with white section and shake it horizontally.",
+    "Use the left arm to hold the bottle with curved body and shake sideways.",
+    "Shake the bottle with curved body side-to-side after picking it up.",
+    "Use the left arm to pick the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body with the left arm, shake horizontally.",
+    "Shake the bottle with curved body horizontally after grabbing.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with curved body with the left arm and shake horizontally.",
+    "Grip the bottle with yellow sticker label and shake it horizontally.",
+    "Use the left arm to hold the curvy orange bottle with white section and shake sideways.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body with the left arm, shake horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the bottle with yellow sticker label and shake it horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with yellow sticker label with the left arm and shake horizontally.",
+    "Grip the bottle with yellow sticker label and shake it horizontally.",
+    "Use the left arm to hold the curvy orange bottle with white section and shake sideways.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Use the left arm to pick the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label with the left arm, shake horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section and shake it horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the left arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the left arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label with the left arm, shake horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section and shake it horizontally.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the left arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the left arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Use the left arm to pick the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label with the left arm, shake horizontally.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the bottle with yellow sticker label and shake it horizontally."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode7.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f9a6d472321b67f724f3babe1e5cf25e1aad48a
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the red-capped bottle using the right arm and shake it horizontally.",
+    "Grip the narrow-necked bottle, then shake it back and forth.",
+    "Simply shake the narrow-necked bottle horizontally without the right arm details.",
+    "With the right arm, grab the red-capped bottle and shake it horizontally.",
+    "Grab the Coca-Cola bottle with the right arm and shake horizontally.",
+    "Hold the bottle with ridges on bottom with the right arm and move it left and right.",
+    "Using the right arm, shake the dark drink bottle with logo horizontally.",
+    "Use the right arm to hold the bottle with ridges on bottom firmly and shake horizontally.",
+    "Shake the red-capped bottle from side to side.",
+    "Shake the medium dark brown bottle horizontally without mentioning the right arm.",
+    "Hold the smooth bottle with red lid steady and shake it horizontally.",
+    "Pick up the hand-sized soda bottle and shake it from side to side.",
+    "Use the right arm to pick the bottle with ridges on bottom and shake it horizontally.",
+    "Grab the brown bottle with red label, shake it horizontally, then release.",
+    "Pick the red-capped bottle using the right arm and move it horizontally.",
+    "Utilize the right arm to grab the hand-sized soda bottle and shake sideways.",
+    "Pick the long thin bottle up and shake it horizontally.",
+    "Grab the bottle with ridges on bottom and shake in a horizontal motion.",
+    "Shake the bottle with white neck and red top side-to-side after grabbing it.",
+    "Hold the dark drink bottle with logo and shake it side to side.",
+    "Pick up the dark drink bottle with logo using the right arm and shake sideways.",
+    "Using the right arm, pick up the bottle with white neck and red top and shake sideways.",
+    "Pick the long thin bottle, then shake it horizontally.",
+    "Lift the long thin bottle with the right arm, then shake it side to side.",
+    "Shake the Coca-Cola bottle smoothly without using the right arm reference.",
+    "Use the right arm to grab the dark drink bottle with logo and move it horizontally.",
+    "Pick up the hand-sized soda bottle and shake it horizontally.",
+    "Lift the dark drink bottle with logo and shake it horizontally.",
+    "Pick up the dark drink bottle with logo using the right arm, shake it horizontally.",
+    "Lift the bottle with white neck and red top using the right arm and shake horizontally.",
+    "Shake the long thin bottle horizontally after lifting with the right arm.",
+    "Secure the narrow-necked bottle with the right arm, shake in horizontal motion.",
+    "Hold the narrow-necked bottle and move it side to side.",
+    "Use the right arm to hold the red-capped bottle and shake it sideways.",
+    "Pick up the narrow-necked bottle and shake it side to side.",
+    "Hold the smooth bottle with red lid with the right arm and shake horizontally.",
+    "Grab the long thin bottle using the right arm and move it side-to-side.",
+    "Hold the red-capped bottle and move it side to side.",
+    "Shake the hand-sized soda bottle side-to-side after grabbing it.",
+    "Take the bottle with ridges on bottom in the right arm and shake it back and forth.",
+    "Grab the long thin bottle and move it side-to-side repeatedly.",
+    "Use the right arm to grab the medium dark brown bottle and shake horizontally.",
+    "Grab and shake the bottle with ridges on bottom horizontally without mentioning the right arm.",
+    "Pick up the brown bottle with red label with the right arm, shake it sideways.",
+    "Lift the brown bottle with red label using the right arm and shake it sideways.",
+    "Lift the dark drink bottle with logo and move it back and forth.",
+    "Take hold of the red-capped bottle using the right arm and move horizontally.",
+    "Move the Coca-Cola bottle side-to-side after grabbing it.",
+    "Lift the bottle with ridges on bottom and move it side-to-side.",
+    "Using the right arm, grab the medium dark brown bottle and shake it sideways.",
+    "Hold the brown bottle with red label using the right arm and shake it horizontally.",
+    "Grip the brown bottle with red label, then shake it back and forth.",
+    "Simply shake the long thin bottle horizontally without the right arm details.",
+    "With the right arm, grab the Coca-Cola bottle and shake it horizontally.",
+    "Grab the medium dark brown bottle with the right arm and shake horizontally.",
+    "Hold the bottle with ridges on bottom with the right arm and move it left and right.",
+    "Using the right arm, shake the Coca-Cola bottle horizontally.",
+    "Use the right arm to hold the bottle with ridges on bottom firmly and shake horizontally.",
+    "Shake the dark drink bottle with logo from side to side.",
+    "Shake the narrow-necked bottle horizontally without mentioning the right arm.",
+    "Hold the long thin bottle steady and shake it horizontally.",
+    "Pick up the plastic drink bottle and shake it from side to side.",
+    "Use the right arm to pick the brown bottle with red label and shake it horizontally.",
+    "Grab the bottle with white neck and red top, shake it horizontally, then release.",
+    "Pick the red-capped bottle using the right arm and move it horizontally.",
+    "Utilize the right arm to grab the dark drink bottle with logo and shake sideways.",
+    "Pick the smooth bottle with red lid up and shake it horizontally.",
+    "Grab the hand-sized soda bottle and shake in a horizontal motion.",
+    "Shake the long thin bottle side-to-side after grabbing it.",
+    "Hold the brown bottle with red label and shake it side to side.",
+    "Pick up the long thin bottle using the right arm and shake sideways.",
+    "Using the right arm, pick up the Coca-Cola bottle and shake sideways.",
+    "Pick the bottle with white neck and red top, then shake it horizontally.",
+    "Lift the Coca-Cola bottle with the right arm, then shake it side to side.",
+    "Shake the hand-sized soda bottle smoothly without using the right arm reference.",
+    "Use the right arm to grab the brown bottle with red label and move it horizontally.",
+    "Pick up the long thin bottle and shake it horizontally.",
+    "Lift the smooth bottle with red lid and shake it horizontally.",
+    "Pick up the Coca-Cola bottle using the right arm, shake it horizontally.",
+    "Lift the smooth bottle with red lid using the right arm and shake horizontally.",
+    "Shake the dark drink bottle with logo horizontally after lifting with the right arm.",
+    "Secure the bottle with ridges on bottom with the right arm, shake in horizontal motion.",
+    "Hold the long thin bottle and move it side to side.",
+    "Use the right arm to hold the bottle with ridges on bottom and shake it sideways.",
+    "Pick up the bottle with white neck and red top and shake it side to side.",
+    "Hold the brown bottle with red label with the right arm and shake horizontally.",
+    "Grab the bottle with ridges on bottom using the right arm and move it side-to-side.",
+    "Hold the brown bottle with red label and move it side to side.",
+    "Shake the dark drink bottle with logo side-to-side after grabbing it.",
+    "Take the dark drink bottle with logo in the right arm and shake it back and forth.",
+    "Grab the smooth bottle with red lid and move it side-to-side repeatedly.",
+    "Use the right arm to grab the Coca-Cola bottle and shake horizontally.",
+    "Grab and shake the narrow-necked bottle horizontally without mentioning the right arm.",
+    "Pick up the smooth bottle with red lid with the right arm, shake it sideways.",
+    "Lift the bottle with white neck and red top using the right arm and shake it sideways.",
+    "Lift the bottle with ridges on bottom and move it back and forth.",
+    "Take hold of the medium dark brown bottle using the right arm and move horizontally.",
+    "Move the red-capped bottle side-to-side after grabbing it.",
+    "Lift the long thin bottle and move it side-to-side.",
+    "Using the right arm, grab the brown bottle with red label and shake it sideways."
+  ],
+  "unseen": [
+    "Grip the bottle with red screw cap and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Use the right arm to hold the plastic soda bottle and shake sideways.",
+    "Grab the plastic soda bottle with the right arm, shake horizontally.",
+    "Grab the bottle with red screw cap with the right arm and shake horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grip the bottle with red screw cap and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with red screw cap and shake sideways.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the plastic soda bottle with the right arm and shake horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with red screw cap and shake sideways.",
+    "Grab the plastic soda bottle with the right arm, shake horizontally.",
+    "Grab the brown bottle with the right arm and shake horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Use the right arm to hold the bottle with red screw cap and shake sideways.",
+    "Grab the bottle with red screw cap with the right arm, shake horizontally.",
+    "Grab the brown bottle with the right arm and shake horizontally.",
+    "Shake the plastic soda bottle side-to-side after picking it up.",
+    "Use the right arm to pick the brown bottle and shake it.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the brown bottle with the right arm and shake horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the right arm to pick the plastic soda bottle and shake it.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the brown bottle, shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the right arm to hold the plastic soda bottle and shake sideways.",
+    "Grab the plastic soda bottle with the right arm, shake horizontally.",
+    "Grab the plastic soda bottle with the right arm and shake horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with red screw cap and shake it.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the bottle with red screw cap with the right arm and shake horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the right arm to pick the plastic soda bottle and shake it.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing.",
+    "Grab the bottle with red screw cap and shake it horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing it.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Grab the bottle with red screw cap with the right arm, shake horizontally.",
+    "Grab the brown bottle with the right arm and shake horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the right arm to pick the bottle with red screw cap and shake it.",
+    "Grip the plastic soda bottle and shake it horizontally.",
+    "Shake the bottle with red screw cap horizontally after grabbing.",
+    "Grab the brown bottle and shake it horizontally.",
+    "Grab the plastic soda bottle, shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing it.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Grab the brown bottle with the right arm, shake horizontally.",
+    "Grab the bottle with red screw cap with the right arm and shake horizontally.",
+    "Shake the brown bottle side-to-side after picking it up.",
+    "Use the right arm to pick the plastic soda bottle and shake it.",
+    "Grip the brown bottle and shake it horizontally.",
+    "Shake the plastic soda bottle horizontally after grabbing.",
+    "Grab the plastic soda bottle and shake it horizontally.",
+    "Grab the bottle with red screw cap, shake it horizontally.",
+    "Shake the brown bottle horizontally after grabbing it.",
+    "Use the right arm to hold the brown bottle and shake sideways.",
+    "Grab the plastic soda bottle with the right arm, shake horizontally.",
+    "Grab the plastic soda bottle with the right arm and shake horizontally.",
+    "Shake the bottle with red screw cap side-to-side after picking it up.",
+    "Use the right arm to pick the brown bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode8.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b8713d41fe55e7397de73f2525aa81cf874ee51
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the smooth plastic bottle side-to-side after grabbing it.",
+    "Grab the white and orange plastic bottle and move it side-to-side repeatedly.",
+    "Pick the plastic bottle using the right arm and move it horizontally.",
+    "Using the right arm, shake the cylindrical orange and white bottle horizontally.",
+    "Lift the drinking bottle with yellow label and move it back and forth.",
+    "Hold the cylindrical orange and white bottle with the right arm and move it left and right.",
+    "Pick up the cylindrical orange and white bottle and shake it side to side.",
+    "Pick up the medium orange bottle and shake it from side to side.",
+    "Secure the orange bottle with the right arm, shake in horizontal motion.",
+    "Hold the orange and white bottle with cap steady and shake it horizontally.",
+    "Shake the orange and white bottle with cap smoothly without using the right arm reference.",
+    "Pick the medium bottle with orange lid up and shake it horizontally.",
+    "Hold the white and orange plastic bottle and move it side to side.",
+    "Grip the cylindrical orange and white bottle, then shake it back and forth.",
+    "Pick the orange bottle, then shake it horizontally.",
+    "Grab the orange and white bottle with cap with the right arm and shake horizontally.",
+    "Pick up the drinking bottle with yellow label using the right arm and shake sideways.",
+    "Take hold of the medium orange bottle using the right arm and move horizontally.",
+    "Lift the drinking bottle with yellow label and shake it horizontally.",
+    "Pick up the orange bottle using the right arm, shake it horizontally.",
+    "Lift the plastic bottle using the right arm and shake horizontally.",
+    "Using the right arm, grab the medium orange bottle and shake it sideways.",
+    "Use the right arm to hold the medium orange bottle firmly and shake horizontally.",
+    "Move the drinking bottle with yellow label side-to-side after grabbing it.",
+    "Simply shake the drinking bottle with yellow label horizontally without the right arm details.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it sideways.",
+    "Grab the medium orange bottle and shake in a horizontal motion.",
+    "Hold the cylindrical orange and white bottle and shake it side to side.",
+    "With the right arm, grab the smooth plastic bottle and shake it horizontally.",
+    "Lift the orange and white bottle with cap using the right arm and shake it sideways.",
+    "Take the orange bottle in the right arm and shake it back and forth.",
+    "Use the right arm to pick the smooth plastic bottle and shake it horizontally.",
+    "Hold the medium bottle with orange lid with the right arm and shake horizontally.",
+    "Grab the medium bottle with orange lid using the right arm and move it side-to-side.",
+    "Pick up the yellow label bottle with the right arm, shake it sideways.",
+    "Use the right arm to grab the plastic bottle and move it horizontally.",
+    "Pick up the white and orange plastic bottle and shake it horizontally.",
+    "Utilize the right arm to grab the medium orange bottle and shake sideways.",
+    "Grab the medium bottle with orange lid, shake it horizontally, then release.",
+    "Hold the bottle with orange cap using the right arm and shake it horizontally.",
+    "Shake the bottle with ribbed orange bottom from side to side.",
+    "Grab and shake the orange bottle horizontally without mentioning the right arm.",
+    "Hold the medium orange bottle and move it side to side.",
+    "Lift the bottle with ribbed orange bottom and move it side-to-side.",
+    "Use the right arm to grab the bottle with orange cap and shake horizontally.",
+    "Using the right arm, pick up the medium orange bottle and shake sideways.",
+    "Lift the white and orange plastic bottle with the right arm, then shake it side to side.",
+    "Shake the orange and white bottle with cap horizontally after lifting with the right arm.",
+    "Shake the bottle with ribbed orange bottom side-to-side after grabbing it.",
+    "Shake the plastic bottle horizontally without mentioning the right arm.",
+    "Shake the yellow label bottle side-to-side after grabbing it.",
+    "Grab the white and orange plastic bottle and move it side-to-side repeatedly.",
+    "Pick the drinking bottle with yellow label using the right arm and move it horizontally.",
+    "Using the right arm, shake the yellow label bottle horizontally.",
+    "Lift the cylindrical orange and white bottle and move it back and forth.",
+    "Hold the cylindrical orange and white bottle with the right arm and move it left and right.",
+    "Pick up the bottle with orange cap and shake it side to side.",
+    "Pick up the smooth plastic bottle and shake it from side to side.",
+    "Secure the orange bottle with the right arm, shake in horizontal motion.",
+    "Hold the orange and white bottle with cap steady and shake it horizontally.",
+    "Shake the cylindrical orange and white bottle smoothly without using the right arm reference.",
+    "Pick the white and orange plastic bottle up and shake it horizontally.",
+    "Hold the plastic bottle and move it side to side.",
+    "Grip the white and orange plastic bottle, then shake it back and forth.",
+    "Pick the medium orange bottle, then shake it horizontally.",
+    "Grab the plastic bottle with the right arm and shake horizontally.",
+    "Pick up the drinking bottle with yellow label using the right arm and shake sideways.",
+    "Take hold of the smooth plastic bottle using the right arm and move horizontally.",
+    "Lift the bottle with orange cap and shake it horizontally.",
+    "Pick up the medium bottle with orange lid using the right arm, shake it horizontally.",
+    "Lift the smooth plastic bottle using the right arm and shake horizontally.",
+    "Using the right arm, grab the bottle with ribbed orange bottom and shake it sideways.",
+    "Use the right arm to hold the yellow label bottle firmly and shake horizontally.",
+    "Move the cylindrical orange and white bottle side-to-side after grabbing it.",
+    "Simply shake the bottle with orange cap horizontally without the right arm details.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it sideways.",
+    "Grab the bottle with ribbed orange bottom and shake in a horizontal motion.",
+    "Hold the orange bottle and shake it side to side.",
+    "With the right arm, grab the bottle with ribbed orange bottom and shake it horizontally.",
+    "Lift the orange bottle using the right arm and shake it sideways.",
+    "Take the medium orange bottle in the right arm and shake it back and forth.",
+    "Use the right arm to pick the yellow label bottle and shake it horizontally.",
+    "Hold the drinking bottle with yellow label with the right arm and shake horizontally.",
+    "Grab the orange bottle using the right arm and move it side-to-side.",
+    "Pick up the yellow label bottle with the right arm, shake it sideways.",
+    "Use the right arm to grab the cylindrical orange and white bottle and move it horizontally.",
+    "Pick up the yellow label bottle and shake it horizontally.",
+    "Utilize the right arm to grab the plastic bottle and shake sideways.",
+    "Grab the drinking bottle with yellow label, shake it horizontally, then release.",
+    "Hold the drinking bottle with yellow label using the right arm and shake it horizontally.",
+    "Shake the drinking bottle with yellow label from side to side.",
+    "Grab and shake the cylindrical orange and white bottle horizontally without mentioning the right arm.",
+    "Hold the medium orange bottle and move it side to side.",
+    "Lift the bottle with orange cap and move it side-to-side.",
+    "Use the right arm to grab the plastic bottle and shake horizontally.",
+    "Using the right arm, pick up the medium orange bottle and shake sideways.",
+    "Lift the orange bottle with the right arm, then shake it side to side.",
+    "Shake the medium orange bottle horizontally after lifting with the right arm.",
+    "Shake the cylindrical orange and white bottle side-to-side after grabbing it.",
+    "Shake the drinking bottle with yellow label horizontally without mentioning the right arm."
+  ],
+  "unseen": [
+    "Grab the bottle with curved body with the right arm, shake horizontally.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Use the right arm to pick the bottle with curved body and shake it.",
+    "Shake the bottle with curved body side-to-side after picking it up.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the right arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the right arm to hold the curvy orange bottle with white section and shake sideways.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the bottle with yellow sticker label with the right arm, shake horizontally.",
+    "Grab the curvy orange bottle with white section and shake it horizontally.",
+    "Use the right arm to pick the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with curved body with the right arm and shake horizontally.",
+    "Grip the curvy orange bottle with white section and shake it horizontally.",
+    "Use the right arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the bottle with yellow sticker label with the right arm, shake horizontally.",
+    "Grab the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to pick the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the right arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the right arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the curvy orange bottle with white section and shake it horizontally.",
+    "Use the right arm to pick the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the curvy orange bottle with white section, shake it horizontally.",
+    "Grab the bottle with yellow sticker label with the right arm and shake horizontally.",
+    "Grip the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to hold the bottle with curved body and shake sideways.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to pick the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the right arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the right arm to hold the bottle with curved body and shake sideways.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Use the right arm to pick the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the right arm and shake horizontally.",
+    "Grip the curvy orange bottle with white section and shake it horizontally.",
+    "Use the right arm to hold the bottle with curved body and shake sideways.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to pick the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Shake the bottle with yellow sticker label horizontally after grabbing it.",
+    "Grab the curvy orange bottle with white section, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the right arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the right arm to hold the bottle with yellow sticker label and shake sideways.",
+    "Shake the bottle with curved body horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the bottle with curved body and shake it horizontally.",
+    "Use the right arm to pick the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing it.",
+    "Grab the bottle with yellow sticker label, shake it horizontally.",
+    "Grab the bottle with curved body with the right arm and shake horizontally.",
+    "Grip the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to hold the bottle with curved body and shake sideways.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the curvy orange bottle with white section and shake it horizontally.",
+    "Use the right arm to pick the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label side-to-side after picking it up.",
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the bottle with curved body, shake it horizontally.",
+    "Grab the bottle with curved body with the right arm and shake horizontally.",
+    "Grip the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to hold the curvy orange bottle with white section and shake sideways.",
+    "Shake the curvy orange bottle with white section horizontally after grabbing.",
+    "Grab the curvy orange bottle with white section with the right arm, shake horizontally.",
+    "Grab the bottle with yellow sticker label and shake it horizontally.",
+    "Use the right arm to pick the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section side-to-side after picking it up.",
+    "Shake the bottle with curved body horizontally after grabbing it.",
+    "Grab the curvy orange bottle with white section, shake it horizontally.",
+    "Grab the curvy orange bottle with white section with the right arm and shake horizontally.",
+    "Grip the bottle with curved body and shake it horizontally.",
+    "Use the right arm to hold the curvy orange bottle with white section and shake sideways.",
+    "Shake the bottle with curved body horizontally after grabbing."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode9.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e2bb0368de3616931a6a78e10b6e094b127ecf
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the rounded orange bottle with yellow top horizontally after lifting with the left arm.",
+    "Use the left arm to hold the handheld medium-sized liquid bottle and shake it sideways.",
+    "Shake the bottle with yellow cap side-to-side after grabbing it.",
+    "Hold the rounded bottom orange plastic bottle with the left arm and move it left and right.",
+    "Pick the rounded orange bottle with yellow top up and shake it horizontally.",
+    "With the left arm, grab the orange bottle with bold labeling and shake it horizontally.",
+    "Pick up the rounded orange bottle with yellow top and shake it side to side.",
+    "Move the rounded bottom orange plastic bottle side-to-side after grabbing it.",
+    "Pick the cylindrical orange bottle with smooth surface using the left arm and move it horizontally.",
+    "Using the left arm, shake the handheld medium-sized liquid bottle horizontally.",
+    "Take the cylindrical orange bottle with smooth surface in the left arm and shake it back and forth.",
+    "Hold the rounded bottom orange plastic bottle and move it side to side.",
+    "Grab the orange bottle, shake it horizontally, then release.",
+    "Grip the rounded orange bottle with yellow top, then shake it back and forth.",
+    "Pick up the liquid container with orange body with the left arm, shake it sideways.",
+    "Hold the rounded bottom orange plastic bottle with the left arm and shake horizontally.",
+    "Shake the handheld medium-sized liquid bottle side-to-side after grabbing it.",
+    "Use the left arm to pick the rounded bottom orange plastic bottle and shake it horizontally.",
+    "Using the left arm, grab the yellow-capped orange plastic bottle and shake it sideways.",
+    "Use the left arm to grab the rounded bottom orange plastic bottle and shake horizontally.",
+    "Grab and shake the rounded bottom orange plastic bottle horizontally without mentioning the left arm.",
+    "Shake the handheld medium-sized liquid bottle smoothly without using the left arm reference.",
+    "Secure the liquid container with orange body with the left arm, shake in horizontal motion.",
+    "Lift the orange bottle and move it back and forth.",
+    "Pick up the liquid container with orange body using the left arm, shake it horizontally.",
+    "Using the left arm, pick up the rounded orange bottle with yellow top and shake sideways.",
+    "Shake the orange bottle with bold labeling from side to side.",
+    "Hold the small bottle with bright yellow lid and shake it side to side.",
+    "Lift the handheld medium-sized liquid bottle with the left arm, then shake it side to side.",
+    "Shake the bottle with yellow cap horizontally without mentioning the left arm.",
+    "Lift the orange bottle with bold labeling and shake it horizontally.",
+    "Use the left arm to hold the small bottle with bright yellow lid firmly and shake horizontally.",
+    "Grab the yellow-capped bottle for beverages with the left arm and shake horizontally.",
+    "Hold the bottle with yellow cap and move it side to side.",
+    "Pick the handheld medium-sized liquid bottle, then shake it horizontally.",
+    "Take hold of the cylindrical orange bottle with smooth surface using the left arm and move horizontally.",
+    "Lift the rounded bottom orange plastic bottle using the left arm and shake it sideways.",
+    "Lift the yellow-capped orange plastic bottle using the left arm and shake horizontally.",
+    "Simply shake the small bottle with bright yellow lid horizontally without the left arm details.",
+    "Lift the yellow-capped bottle for beverages and move it side-to-side.",
+    "Use the left arm to grab the rounded orange bottle with yellow top and move it horizontally.",
+    "Hold the small bottle with bright yellow lid steady and shake it horizontally.",
+    "Utilize the left arm to grab the rounded orange bottle with yellow top and shake sideways.",
+    "Grab the cylindrical orange bottle with smooth surface and shake in a horizontal motion.",
+    "Pick up the handheld medium-sized liquid bottle and shake it horizontally.",
+    "Pick up the yellow-capped orange plastic bottle and shake it from side to side.",
+    "Hold the yellow-capped bottle for beverages using the left arm and shake it horizontally.",
+    "Grab the orange bottle using the left arm and move it side-to-side.",
+    "Pick up the small bottle with bright yellow lid using the left arm and shake sideways.",
+    "Grab the smooth orange cylindrical bottle and move it side-to-side repeatedly.",
+    "Shake the yellow-capped orange plastic bottle horizontally after lifting with the left arm.",
+    "Use the left arm to hold the rounded bottom orange plastic bottle and shake it sideways.",
+    "Shake the liquid container with orange body side-to-side after grabbing it.",
+    "Hold the handheld medium-sized liquid bottle with the left arm and move it left and right.",
+    "Pick the rounded orange bottle with yellow top up and shake it horizontally.",
+    "With the left arm, grab the rounded bottom orange plastic bottle and shake it horizontally.",
+    "Pick up the handheld medium-sized liquid bottle and shake it side to side.",
+    "Move the yellow-capped orange plastic bottle side-to-side after grabbing it.",
+    "Pick the bottle with yellow cap using the left arm and move it horizontally.",
+    "Using the left arm, shake the rounded bottom orange plastic bottle horizontally.",
+    "Take the yellow-capped bottle for beverages in the left arm and shake it back and forth.",
+    "Hold the smooth orange cylindrical bottle and move it side to side.",
+    "Grab the bottle with yellow cap, shake it horizontally, then release.",
+    "Grip the orange bottle, then shake it back and forth.",
+    "Pick up the handheld medium-sized liquid bottle with the left arm, shake it sideways.",
+    "Hold the handheld medium-sized liquid bottle with the left arm and shake horizontally.",
+    "Shake the handheld medium-sized liquid bottle side-to-side after grabbing it.",
+    "Use the left arm to pick the cylindrical orange bottle with smooth surface and shake it horizontally.",
+    "Using the left arm, grab the rounded orange bottle with yellow top and shake it sideways.",
+    "Use the left arm to grab the bottle with yellow cap and shake horizontally.",
+    "Grab and shake the handheld medium-sized liquid bottle horizontally without mentioning the left arm.",
+    "Shake the orange bottle smoothly without using the left arm reference.",
+    "Secure the handheld medium-sized liquid bottle with the left arm, shake in horizontal motion.",
+    "Lift the cylindrical orange bottle with smooth surface and move it back and forth.",
+    "Pick up the cylindrical orange bottle with smooth surface using the left arm, shake it horizontally.",
+    "Using the left arm, pick up the rounded orange bottle with yellow top and shake sideways.",
+    "Shake the rounded orange bottle with yellow top from side to side.",
+    "Hold the handheld medium-sized liquid bottle and shake it side to side.",
+    "Lift the bottle with yellow cap with the left arm, then shake it side to side.",
+    "Shake the yellow-capped bottle for beverages horizontally without mentioning the left arm.",
+    "Lift the rounded orange bottle with yellow top and shake it horizontally.",
+    "Use the left arm to hold the smooth orange cylindrical bottle firmly and shake horizontally.",
+    "Grab the liquid container with orange body with the left arm and shake horizontally.",
+    "Hold the small bottle with bright yellow lid and move it side to side.",
+    "Pick the yellow-capped orange plastic bottle, then shake it horizontally.",
+    "Take hold of the yellow-capped orange plastic bottle using the left arm and move horizontally.",
+    "Lift the yellow-capped bottle for beverages using the left arm and shake it sideways.",
+    "Lift the orange bottle with bold labeling using the left arm and shake horizontally.",
+    "Simply shake the small bottle with bright yellow lid horizontally without the left arm details.",
+    "Lift the orange bottle and move it side-to-side.",
+    "Use the left arm to grab the handheld medium-sized liquid bottle and move it horizontally.",
+    "Hold the orange bottle steady and shake it horizontally.",
+    "Utilize the left arm to grab the rounded orange bottle with yellow top and shake sideways.",
+    "Grab the liquid container with orange body and shake in a horizontal motion.",
+    "Pick up the rounded bottom orange plastic bottle and shake it horizontally.",
+    "Pick up the yellow-capped orange plastic bottle and shake it from side to side.",
+    "Hold the yellow-capped bottle for beverages using the left arm and shake it horizontally.",
+    "Grab the small bottle with bright yellow lid using the left arm and move it side-to-side.",
+    "Pick up the orange bottle using the left arm and shake sideways.",
+    "Grab the orange bottle and move it side-to-side repeatedly."
+  ],
+  "unseen": [
+    "Shake the medium bottle for liquids horizontally after grabbing it.",
+    "Grab the medium plastic bottle with the left arm, shake horizontally.",
+    "Grab the plastic orange bottle with rounded base, shake it horizontally.",
+    "Grab the medium plastic bottle and shake it horizontally.",
+    "Use the left arm to pick the medium bottle for liquids and shake it.",
+    "Grab the medium bottle for liquids with the left arm and shake horizontally.",
+    "Grip the medium plastic bottle and shake it horizontally.",
+    "Shake the medium bottle for liquids side-to-side after picking it up.",
+    "Use the left arm to hold the plastic orange bottle with rounded base and shake sideways.",
+    "Shake the medium bottle for liquids horizontally after grabbing.",
+    "Shake the plastic orange bottle with rounded base horizontally after grabbing it.",
+    "Grab the medium bottle for liquids with the left arm, shake horizontally.",
+    "Grab the plastic orange bottle with rounded base, shake it horizontally.",
+    "Grab the medium plastic bottle and shake it horizontally.",
+    "Use the left arm to pick the medium plastic bottle and shake it.",
+    "Grab the medium plastic bottle with the left arm and shake horizontally.",
+    "Grip the plastic orange bottle with rounded base and shake it horizontally.",
+    "Shake the medium bottle for liquids side-to-side after picking it up.",
+    "Use the left arm to hold the plastic orange bottle with rounded base and shake sideways.",
+    "Shake the medium bottle for liquids horizontally after grabbing.",
+    "Shake the medium plastic bottle horizontally after grabbing it.",
+    "Grab the plastic orange bottle with rounded base with the left arm, shake horizontally.",
+    "Grab the medium bottle for liquids, shake it horizontally.",
+    "Grab the medium plastic bottle and shake it horizontally.",
+    "Use the left arm to pick the medium bottle for liquids and shake it.",
+    "Grab the plastic orange bottle with rounded base with the left arm and shake horizontally.",
+    "Grip the medium bottle for liquids and shake it horizontally.",
+    "Shake the medium plastic bottle side-to-side after picking it up.",
+    "Use the left arm to hold the medium bottle for liquids and shake sideways.",
+    "Shake the medium bottle for liquids horizontally after grabbing.",
+    "Shake the medium bottle for liquids horizontally after grabbing it.",
+    "Grab the medium bottle for liquids with the left arm, shake horizontally.",
+    "Grab the medium bottle for liquids, shake it horizontally.",
+    "Grab the medium bottle for liquids and shake it horizontally.",
+    "Use the left arm to pick the medium plastic bottle and shake it.",
+    "Grab the medium bottle for liquids with the left arm and shake horizontally.",
+    "Grip the medium bottle for liquids and shake it horizontally.",
+    "Shake the plastic orange bottle with rounded base side-to-side after picking it up.",
+    "Use the left arm to hold the medium plastic bottle and shake sideways.",
+    "Shake the medium plastic bottle horizontally after grabbing.",
+    "Shake the medium plastic bottle horizontally after grabbing it.",
+    "Grab the medium plastic bottle with the left arm, shake horizontally.",
+    "Grab the plastic orange bottle with rounded base, shake it horizontally.",
+    "Grab the medium plastic bottle and shake it horizontally.",
+    "Use the left arm to pick the medium bottle for liquids and shake it.",
+    "Grab the medium bottle for liquids with the left arm and shake horizontally.",
+    "Grip the plastic orange bottle with rounded base and shake it horizontally.",
+    "Shake the medium plastic bottle side-to-side after picking it up.",
+    "Use the left arm to hold the medium plastic bottle and shake sideways.",
+    "Shake the plastic orange bottle with rounded base horizontally after grabbing.",
+    "Shake the plastic orange bottle with rounded base horizontally after grabbing it.",
+    "Grab the medium plastic bottle with the left arm, shake horizontally.",
+    "Grab the medium bottle for liquids, shake it horizontally.",
+    "Grab the medium plastic bottle and shake it horizontally.",
+    "Use the left arm to pick the plastic orange bottle with rounded base and shake it.",
+    "Grab the medium plastic bottle with the left arm and shake horizontally.",
+    "Grip the medium bottle for liquids and shake it horizontally.",
+    "Shake the plastic orange bottle with rounded base side-to-side after picking it up.",
+    "Use the left arm to hold the medium plastic bottle and shake sideways.",
+    "Shake the medium plastic bottle horizontally after grabbing.",
+    "Shake the plastic orange bottle with rounded base horizontally after grabbing it.",
+    "Grab the medium plastic bottle with the left arm, shake horizontally.",
+    "Grab the medium plastic bottle, shake it horizontally.",
+    "Grab the plastic orange bottle with rounded base and shake it horizontally.",
+    "Use the left arm to pick the plastic orange bottle with rounded base and shake it.",
+    "Grab the plastic orange bottle with rounded base with the left arm and shake horizontally.",
+    "Grip the medium bottle for liquids and shake it horizontally.",
+    "Shake the medium bottle for liquids side-to-side after picking it up.",
+    "Use the left arm to hold the medium bottle for liquids and shake sideways.",
+    "Shake the medium plastic bottle horizontally after grabbing.",
+    "Shake the medium bottle for liquids horizontally after grabbing it.",
+    "Grab the medium bottle for liquids with the left arm, shake horizontally.",
+    "Grab the medium bottle for liquids, shake it horizontally.",
+    "Grab the medium bottle for liquids and shake it horizontally.",
+    "Use the left arm to pick the medium plastic bottle and shake it.",
+    "Grab the medium plastic bottle with the left arm and shake horizontally.",
+    "Grip the medium plastic bottle and shake it horizontally.",
+    "Shake the medium plastic bottle side-to-side after picking it up.",
+    "Use the left arm to hold the medium plastic bottle and shake sideways.",
+    "Shake the medium bottle for liquids horizontally after grabbing.",
+    "Shake the plastic orange bottle with rounded base horizontally after grabbing it.",
+    "Grab the medium plastic bottle with the left arm, shake horizontally.",
+    "Grab the medium bottle for liquids, shake it horizontally.",
+    "Grab the medium bottle for liquids and shake it horizontally.",
+    "Use the left arm to pick the medium plastic bottle and shake it.",
+    "Grab the medium plastic bottle with the left arm and shake horizontally.",
+    "Grip the medium plastic bottle and shake it horizontally.",
+    "Shake the medium bottle for liquids side-to-side after picking it up.",
+    "Use the left arm to hold the plastic orange bottle with rounded base and shake sideways.",
+    "Shake the medium bottle for liquids horizontally after grabbing.",
+    "Shake the medium bottle for liquids horizontally after grabbing it.",
+    "Grab the medium plastic bottle with the left arm, shake horizontally.",
+    "Grab the medium plastic bottle, shake it horizontally.",
+    "Grab the medium plastic bottle and shake it horizontally.",
+    "Use the left arm to pick the medium bottle for liquids and shake it.",
+    "Grab the plastic orange bottle with rounded base with the left arm and shake horizontally.",
+    "Grip the medium bottle for liquids and shake it horizontally.",
+    "Shake the medium plastic bottle side-to-side after picking it up.",
+    "Use the left arm to hold the medium bottle for liquids and shake sideways.",
+    "Shake the medium plastic bottle horizontally after grabbing."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/scene_info.json b/shake_bottle_horizontally/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2382b921ada71d34053672959bd58aab088fa488
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/scene_info.json
@@ -0,0 +1,222 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base15",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base14",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base5",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base10",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/shake_bottle_horizontally/demo_clean_ep20_vidar/seed.txt b/shake_bottle_horizontally/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8901e090c5bfda1937c91379de62b0c5f4b3a6c7
--- /dev/null
+++ b/shake_bottle_horizontally/demo_clean_ep20_vidar/seed.txt
@@ -0,0 +1 @@
+3 4 6 8 12 16 17 19 21 22 25 27 29 30 32 33 36 38 39 40 
\ No newline at end of file