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diff --git a/aloha-agilex_randomized_500/endpose_data/episode60.json b/aloha-agilex_randomized_500/endpose_data/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..a13cb55dae7831774a4097514302031414886c55
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode60.json
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode61.json b/aloha-agilex_randomized_500/endpose_data/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..81d9e34fc5f4deb1ce3841401052ad31b313840f
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode61.json
@@ -0,0 +1,1690 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode62.json b/aloha-agilex_randomized_500/endpose_data/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..3616383477a4cdfea57f5d784cee5dbcd7b25a05
--- /dev/null
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode63.json b/aloha-agilex_randomized_500/endpose_data/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dfe0644220e18524c79babb680022015dc6fcf8
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode63.json
@@ -0,0 +1,1730 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode64.json b/aloha-agilex_randomized_500/endpose_data/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ce0a652921a8f33541740b50d0f70e1642cdb1
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode64.json
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode65.json b/aloha-agilex_randomized_500/endpose_data/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7f99e6133bf2540c0bb0ccfc75d117a86ebfd4
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode65.json
@@ -0,0 +1,1670 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode66.json b/aloha-agilex_randomized_500/endpose_data/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c9704a9cccc32051ccc21cb216147f204a00b0
--- /dev/null
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode67.json b/aloha-agilex_randomized_500/endpose_data/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..07eb61a16a7b6c121c0e2f0d84e20fea8836338d
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode67.json
@@ -0,0 +1,1630 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode68.json b/aloha-agilex_randomized_500/endpose_data/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..402bf1854391176ebc0277945ad72439122d8e0c
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode68.json
@@ -0,0 +1,1690 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode69.json b/aloha-agilex_randomized_500/endpose_data/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d33c2188105b49c674007637e7e1e5567cceac
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode69.json
@@ -0,0 +1,1710 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode7.json b/aloha-agilex_randomized_500/endpose_data/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dcf52550b8055ac4316c6d4633353c595d4e132
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode7.json
@@ -0,0 +1,1630 @@
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diff --git a/aloha-agilex_randomized_500/endpose_data/episode70.json b/aloha-agilex_randomized_500/endpose_data/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b1972c84b72327a7f33eb41f52f43e74d25754
--- /dev/null
+++ b/aloha-agilex_randomized_500/endpose_data/episode70.json
@@ -0,0 +1,1710 @@
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+      0.4907933336207846,
+      0.5113330365252621
+    ],
+    [
+      0.14746823906898499,
+      -0.04248470813035965,
+      1.069412112236023,
+      0.499788205390838,
+      -0.4978920449460341,
+      0.49061010263435034,
+      0.511485081429335
+    ],
+    [
+      0.14750026166439056,
+      -0.04284064099192619,
+      1.0709208250045776,
+      0.499676734215779,
+      -0.4980109036069982,
+      0.49046036546756655,
+      0.5116218633692423
+    ],
+    [
+      0.14744208753108978,
+      -0.04284880310297012,
+      1.070916771888733,
+      0.4995898829893666,
+      -0.49818500261540116,
+      0.49045469644976614,
+      0.5115426108489216
+    ]
+  ],
+  "right_gripper": [
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    1.0,
+    0.9246231155778895,
+    0.8492462311557789,
+    0.7738693467336684,
+    0.6984924623115578,
+    0.6231155778894473,
+    0.5477386934673367,
+    0.4723618090452262,
+    0.3969849246231155,
+    0.321608040201005,
+    0.24623115577889443,
+    0.17085427135678388,
+    0.09547738693467334,
+    0.02010050251256279,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
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+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode157.json b/aloha-agilex_randomized_500/instructions/episode157.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec3ad4bcbd4ca58a74013d579eec0dd688bb718
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode157.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the center button on the clock with black hands's top side.",
+    "Press the button on the square alarm clock's top side",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Click the middle button on the dark blue clock's top side",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Tap the small plastic alarm clock's top button with the right arm",
+    "Locate and press the top button on the clock with black hands",
+    "Click the center of the blue clock with green stripe's top",
+    "Tap the center button on the square alarm clock.",
+    "Locate and press the dark blue clock's top center button",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "Press the center top button on the square plastic alarm clock with the right arm",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Click the button centered on the white-faced alarm clock.",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Use the right arm to click the top center button on the clock with black hands.",
+    "Push the central button on the square alarm clock's top side.",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Use the right arm to activate the square plastic alarm clock's button",
+    "Click the top center button of the small plastic alarm clock",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Use the right arm to press the clock with white dial's top button",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Use the right arm to tap the small plastic alarm clock's top button center",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Press the top middle button of the clock with white dial",
+    "Use the right arm to press the center top of the clock with white dial",
+    "Touch the small plastic alarm clock's center top button with the right arm",
+    "Push the center area of the white-faced alarm clock's top",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Press the center top button of the blue clock with green stripe",
+    "Press the square alarm clock's top button using the right arm",
+    "Ensure the right arm clicks the top center button of the clock with black hands",
+    "Activate the clock with black hands by pressing the top button",
+    "Hit the center of the square alarm clock's top button",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Press the top button in the clock with black hands's center.",
+    "Use the right arm to tap the square plastic alarm clock's central button.",
+    "Use the right arm to press the clock with white dial's top center button.",
+    "Tap the button at the clock with white dial's top center.",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Push the top button on the palm-sized dark blue clock",
+    "Press the top button at the small clock with rounded edges's center.",
+    "the right arm presses the center top button on the dark blue clock",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Press the button on the square alarm clock's top side",
+    "Click the rounded square-shaped alarm clock's top center button using the right arm.",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Tap the dark blue clock's top button with the right arm",
+    "Locate and press the top button on the clock with white dial",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Tap the center button on the dark blue clock.",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Click the button centered on the palm-sized dark blue clock.",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Use the right arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Push the central button on the clock with white dial's top side.",
+    "Push the button on the clock with white dial's top center.",
+    "Use the right arm to activate the clock with white dial's button",
+    "Click the top center button of the blue clock with green stripe",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "Use the right arm to press the dark blue clock's top button",
+    "Use the right arm to click the top of the white-faced alarm clock",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Use the right arm to press the square plastic alarm clock button",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Touch the small plastic alarm clock's center top button with the right arm",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Activate the clock with black hands by pressing its top",
+    "Press the center top button of the square alarm clock",
+    "Press the dark blue clock's top button using the right arm",
+    "Ensure the right arm clicks the top center button of the palm-sized dark blue clock",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Hit the center of the dark blue clock's top button",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Use the right arm to tap the alarm clock with green stripe's central button.",
+    "Use the right arm to press the square plastic alarm clock's top center button.",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Guide the right arm to press the centered button on the square alarm clock.",
+    "Push the top button on the alarm clock with green stripe",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "the right arm presses the center top button on the rounded square-shaped alarm clock",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Press the center button on the white-faced alarm clock's top."
+  ],
+  "unseen": [
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode158.json b/aloha-agilex_randomized_500/instructions/episode158.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e480914162f96b4b474256ea10a6afeb49d768b
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode158.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Click the top center button of the black alarm-clock",
+    "Use the right arm to click the top center button on the compact alarm-clock.",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Press the top button in the small alarm-clock's center.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Press the center top button on the compact alarm-clock with the right arm",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Press the small alarm-clock's top button using the right arm",
+    "Point the right arm to press the button of the black alarm-clock.",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Touch the black matte alarm-clock's center top button with the right arm",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Press the center top button of the black alarm-clock",
+    "Push the top button on the black matte alarm-clock",
+    "Direct the right arm to click the button found on the alarm-clock with rounded edges.",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with digital display",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Use the right arm to press the black matte alarm-clock's top button",
+    "Tap the alarm-clock with buttons on side's top button with the right arm",
+    "Use the right arm to click the center button on the digital screen alarm-clock",
+    "Click the center of the digital screen alarm-clock's top",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "the right arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Click the button centered on the black alarm-clock.",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Use the right arm to press the alarm-clock with buttons on side button",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "the right arm presses the center top button on the alarm-clock with rounded edges",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "the right arm clicks the center top button on the compact alarm-clock",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Hit the center of the compact alarm-clock's top button",
+    "Use the right arm to press the central button on the black matte alarm-clock.",
+    "Push the center area of the black alarm-clock's top",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Use the right arm to activate the compact alarm-clock's button",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Click the top center button of the small alarm-clock",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Press the center top button on the digital screen alarm-clock with the right arm",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Press the center button on the compact alarm-clock's top.",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Press the alarm-clock with digital display's top button using the right arm",
+    "Point the right arm to press the button of the black alarm-clock.",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Touch the palm-sized alarm-clock's center top button with the right arm",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Use the right arm to tap the digital screen alarm-clock's top button center",
+    "Use the right arm to press the compact alarm-clock's top center button.",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Push the top button of the compact alarm-clock using the right arm",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Press the center top button of the black matte alarm-clock",
+    "Push the top button on the digital screen alarm-clock",
+    "Direct the right arm to click the button found on the lightweight plastic alarm-clock.",
+    "Click the button centered on the small alarm-clock's top.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with digital display",
+    "Use the right arm to click the top of the alarm-clock with digital display",
+    "Use the right arm to press the small alarm-clock's top button",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Click the center of the black alarm-clock's top",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "the right arm activates the black alarm-clock by clicking the top button",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's central button.",
+    "Use the right arm to press the digital screen alarm-clock button",
+    "Click the center button on the alarm-clock with buttons on side's top side.",
+    "the right arm presses the center top button on the alarm-clock with rounded edges",
+    "Push the button on the black matte alarm-clock's top center.",
+    "the right arm clicks the center top button on the palm-sized alarm-clock",
+    "Use the right arm to tap the alarm-clock with rounded edges's top center button.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Use the right arm to press the central button on the lightweight plastic alarm-clock.",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Touch the compact alarm-clock's button on the top side."
+  ],
+  "unseen": [
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode159.json b/aloha-agilex_randomized_500/instructions/episode159.json
new file mode 100644
index 0000000000000000000000000000000000000000..533a87adf96b2b36ff49f8c9f47f241bc7da9575
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode159.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm presses the center top button on the black alarm-clock",
+    "Press the alarm-clock with buttons on side's top button using the right arm",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Tap the small alarm-clock's top button with the right arm",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Push the top button of the palm-sized alarm-clock using the right arm",
+    "Use the right arm to press the black alarm-clock's top center button.",
+    "Click the button centered on the small alarm-clock's top.",
+    "the right arm clicks the center top button on the alarm-clock with buttons on side",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Use the right arm to tap the rectangular alarm-clock's top center button.",
+    "Touch the alarm-clock with digital display's center top button with the right arm",
+    "Use the right arm to tap the alarm-clock with rounded edges's central button.",
+    "Press the top button in the black alarm-clock's center.",
+    "Press the center top button of the rectangular alarm-clock",
+    "Guide the right arm to press the centered button on the alarm-clock with rounded edges.",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Point the right arm to press the button of the black alarm-clock.",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "the right arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Push the button on the compact alarm-clock's top center.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Use the right arm to press the center top of the digital screen alarm-clock",
+    "Click the center of the small alarm-clock's top",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Click the small alarm-clock's top center button using the right arm.",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "Use the right arm to click the top of the smooth black alarm-clock",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Use the right arm to press the smooth black alarm-clock's top button",
+    "Locate and press the small alarm-clock's top center button",
+    "Touch the small alarm-clock's button on the top side.",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Use the right arm to activate the smooth black alarm-clock's button",
+    "Use the right arm to click the center button on the rectangular alarm-clock",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Use the right arm to press the central button on the black alarm-clock.",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Use the right arm to press the alarm-clock with digital display button",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "the right arm presses the center top button on the alarm-clock with digital display",
+    "Press the smooth black alarm-clock's top button using the right arm",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Tap the alarm-clock with digital display's top button with the right arm",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Push the top button of the black alarm-clock using the right arm",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "the right arm clicks the center top button on the smooth black alarm-clock",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Use the right arm to tap the lightweight plastic alarm-clock's central button.",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Press the center top button of the compact alarm-clock",
+    "Guide the right arm to press the centered button on the black matte alarm-clock.",
+    "Push the top button on the smooth black alarm-clock",
+    "Point the right arm to press the button of the alarm-clock with rounded edges.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with buttons on side",
+    "the right arm activates the rectangular alarm-clock by clicking the top button",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Click the middle button on the alarm-clock with digital display's top side",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "Click the alarm-clock with buttons on side's top center button using the right arm.",
+    "Use the right arm to click the top center button on the rectangular alarm-clock.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Direct the right arm to click the button found on the lightweight plastic alarm-clock.",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Press the top button at the small alarm-clock's center.",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Press the center top button on the alarm-clock with digital display with the right arm",
+    "Use the right arm to activate the smooth black alarm-clock's button",
+    "Use the right arm to click the center button on the smooth black alarm-clock",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Press the top middle button of the small alarm-clock",
+    "Click the button centered on the black matte alarm-clock.",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Click the top center button of the alarm-clock with digital display",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Use the right arm to press the lightweight plastic alarm-clock button",
+    "Push the center area of the alarm-clock with buttons on side's top"
+  ],
+  "unseen": [
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode16.json b/aloha-agilex_randomized_500/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..241eeea0baea2e0c5eef16a96bef2aea826cf1b1
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Push the top button on the white-faced alarm clock",
+    "Press the button on the dark blue clock's top side",
+    "Use the right arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Press the center top button on the clock with white dial with the right arm",
+    "Press the center top button of the square alarm clock",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Locate and press the top button on the dark blue clock",
+    "Press the small plastic alarm clock's top button using the right arm",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Activate the square alarm clock by pressing the top button",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Use the right arm to activate the blue clock with green stripe's button",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Click the center button on the clock with black hands's top side.",
+    "Use the right arm to press the small clock with rounded edges's top button",
+    "Use the right arm to tap the clock with white dial's top center button.",
+    "Click the center of the clock with black hands's top",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "the right arm presses the center top button on the white-faced alarm clock",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Click the top center button of the white-faced alarm clock",
+    "Use the right arm to tap the small plastic alarm clock's central button.",
+    "Press the top button at the clock with black hands's center.",
+    "Tap the center button on the white-faced alarm clock.",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Point the right arm to press the button of the small clock with rounded edges.",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "Tap the dark blue clock's top button with the right arm",
+    "Use the right arm to press the white-faced alarm clock button",
+    "Hit the center of the clock with black hands's top button",
+    "Use the right arm to press the clock with white dial's top center button.",
+    "Press the center button on the blue clock with green stripe's top.",
+    "the right arm activates the clock with black hands by clicking the top button",
+    "Use the right arm to click the center button on the blue clock with green stripe",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Press the top middle button of the small plastic alarm clock",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Push the top button of the rounded square-shaped alarm clock using the right arm",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Click the button centered on the white-faced alarm clock.",
+    "Touch the square plastic alarm clock's center top button with the right arm",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Press the top button in the square alarm clock's center.",
+    "Push the center area of the white-faced alarm clock's top",
+    "Guide the right arm to press the centered button on the palm-sized dark blue clock.",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Push the top button on the square alarm clock",
+    "Press the button on the square plastic alarm clock's top side",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Press the center top button of the palm-sized dark blue clock",
+    "the right arm clicks the center top button on the clock with white dial",
+    "Click the button centered on the dark blue clock's top.",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Press the small clock with rounded edges's top button using the right arm",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Activate the clock with white dial by pressing the top button",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Click the center button on the dark blue clock's top side.",
+    "Use the right arm to press the dark blue clock's top button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Click the center of the square alarm clock's top",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Click the top center button of the blue clock with green stripe",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Point the right arm to press the button of the rounded square-shaped alarm clock.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Tap the dark blue clock's top button with the right arm",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Hit the center of the square alarm clock's top button",
+    "Use the right arm to press the palm-sized dark blue clock's top center button.",
+    "Press the center button on the square plastic alarm clock's top.",
+    "the right arm activates the clock with black hands by clicking the top button",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Locate and press the small clock with rounded edges's top center button",
+    "Press the top middle button of the blue clock with green stripe",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Click the rounded square-shaped alarm clock's top center button using the right arm.",
+    "Push the top button of the clock with white dial using the right arm",
+    "Use the right arm to click the top of the rounded square-shaped alarm clock",
+    "Click the button centered on the alarm clock with green stripe."
+  ],
+  "unseen": [
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the alarm clock with smooth finish"
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode160.json b/aloha-agilex_randomized_500/instructions/episode160.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ca348e327829fc6e8a565756a1f8a0fdecc3854
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode160.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Push the top button of the alarm-clock with digital display using the right arm",
+    "Use the right arm to press the small alarm-clock button",
+    "the right arm clicks the center top button on the palm-sized alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Point the right arm to press the button of the small alarm-clock.",
+    "Press the button on the black alarm-clock's top side",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Press the top button at the compact alarm-clock's center.",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "the right arm presses the center top button on the black alarm-clock",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Press the alarm-clock with digital display's top button using the right arm",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with buttons on side",
+    "Press the top button in the black alarm-clock's center.",
+    "Use the right arm to activate the small alarm-clock's button",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Tap the compact alarm-clock's top button with the right arm",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Use the right arm to press the alarm-clock with buttons on side's top button",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Tap the center button on the small alarm-clock.",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Use the right arm to tap the black matte alarm-clock's top center button.",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Use the right arm to press the lightweight plastic alarm-clock's top center button.",
+    "Click the center button on the small alarm-clock's top side.",
+    "Touch the digital screen alarm-clock's center top button with the right arm",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Press the center top button of the black matte alarm-clock",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Press the center top button on the palm-sized alarm-clock with the right arm",
+    "Use the right arm to click the center button on the black alarm-clock",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Use the right arm to press the black matte alarm-clock button",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Point the right arm to press the button of the lightweight plastic alarm-clock.",
+    "Press the button on the black alarm-clock's top side",
+    "Click the button centered on the black alarm-clock's top.",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Press the lightweight plastic alarm-clock's top button using the right arm",
+    "Click the top center button of the digital screen alarm-clock",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Push the top button on the compact alarm-clock",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Use the right arm to press the central button on the black matte alarm-clock.",
+    "Ensure the right arm clicks the top center button of the black matte alarm-clock",
+    "Press the top button in the small alarm-clock's center.",
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Use the right arm to press the center top of the lightweight plastic alarm-clock",
+    "Tap the alarm-clock with digital display's top button with the right arm",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Direct the right arm to click the button found on the compact alarm-clock.",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "the right arm activates the small alarm-clock by clicking the top button",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Click the digital screen alarm-clock's top center button using the right arm.",
+    "Use the right arm to tap the alarm-clock with rounded edges's top center button.",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Use the right arm to click the top center button on the small alarm-clock.",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Touch the rectangular alarm-clock's center top button with the right arm",
+    "Press the top middle button of the black matte alarm-clock",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Press the center top button of the small alarm-clock",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Press the center top button on the alarm-clock with rounded edges with the right arm"
+  ],
+  "unseen": [
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode161.json b/aloha-agilex_randomized_500/instructions/episode161.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5923d7382544b57bc9e802cbb77c2ca76e4bd15
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode161.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Use the right arm to press the square plastic alarm clock's top button",
+    "the right arm activates the palm-sized dark blue clock by clicking the top button",
+    "Push the top button on the alarm clock with green stripe",
+    "Press the center top button on the small plastic alarm clock with the right arm",
+    "Click the small plastic alarm clock's top center button using the right arm.",
+    "Press the button on the dark blue clock's top side",
+    "Tap the center button on the square alarm clock.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Use the right arm to activate the white-faced alarm clock's button",
+    "Press the top button at the square plastic alarm clock's center.",
+    "Push the center area of the square alarm clock's top",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Locate and press the top button on the dark blue clock",
+    "Click the button centered on the clock with black hands.",
+    "Use the right arm to click the top center button on the white-faced alarm clock.",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Use the right arm to tap the small plastic alarm clock's central button.",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Press the top button in the small plastic alarm clock's center.",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Push the button on the clock with black hands's top center.",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Use the right arm to click the top of the square plastic alarm clock",
+    "the right arm presses the center top button on the clock with black hands",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Tap the small plastic alarm clock's top button with the right arm",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "Activate the clock with black hands by pressing the top button",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Touch the square alarm clock's center top button with the right arm",
+    "Click the center of the small clock with rounded edges's top",
+    "Ensure the right arm clicks the top center button of the palm-sized dark blue clock",
+    "Tap the button at the clock with white dial's top center.",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Click the top center button of the square alarm clock",
+    "Push the top button of the clock with black hands using the right arm",
+    "Press the small plastic alarm clock's top button using the right arm",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Use the right arm to press the small plastic alarm clock's top button",
+    "the right arm activates the white-faced alarm clock by clicking the top button",
+    "Push the top button on the dark blue clock",
+    "Press the center top button on the alarm clock with green stripe with the right arm",
+    "Click the blue clock with green stripe's top center button using the right arm.",
+    "Press the button on the square alarm clock's top side",
+    "Tap the center button on the small clock with rounded edges.",
+    "Press the center top button of the square plastic alarm clock",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Use the right arm to activate the clock with white dial's button",
+    "Press the top button at the clock with white dial's center.",
+    "Push the center area of the blue clock with green stripe's top",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Click the button centered on the small plastic alarm clock.",
+    "Use the right arm to click the top center button on the white-faced alarm clock.",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Use the right arm to tap the square alarm clock's central button.",
+    "Use the right arm to press the square plastic alarm clock's top center button.",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Press the top button in the dark blue clock's center.",
+    "Guide the right arm to press the centered button on the square plastic alarm clock.",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Point the right arm to press the button of the blue clock with green stripe.",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "the right arm presses the center top button on the blue clock with green stripe",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Hit the center of the blue clock with green stripe's top button",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Activate the alarm clock with green stripe by pressing the top button",
+    "Press the top middle button of the dark blue clock",
+    "Touch the small clock with rounded edges's center top button with the right arm",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Ensure the right arm clicks the top center button of the clock with black hands",
+    "Tap the button at the square alarm clock's top center.",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Click the top center button of the small plastic alarm clock",
+    "Push the top button of the clock with white dial using the right arm",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Press the center button on the clock with white dial's top.",
+    "Use the right arm to press the center top of the small plastic alarm clock",
+    "Use the right arm to tap the white-faced alarm clock's top center button.",
+    "Use the right arm to press the blue clock with green stripe button",
+    "Click the middle button on the small plastic alarm clock's top side"
+  ],
+  "unseen": [
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode162.json b/aloha-agilex_randomized_500/instructions/episode162.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b23b6e78818cb07d8a8e151c39a52d68ad3c6c1
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode162.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Press the center top button of the clock with black hands",
+    "Use the left arm to click the center button on the rounded square-shaped alarm clock",
+    "Use the left arm to press the square plastic alarm clock button",
+    "Touch the clock with white dial's button on the top side.",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "Activate the clock with black hands by pressing its top",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Press the center top button on the alarm clock with green stripe with the left arm",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Use the left arm to press the central button on the white-faced alarm clock.",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the left arm to press the square alarm clock's top center button.",
+    "Tap the alarm clock with green stripe's top button with the left arm",
+    "Press the top button in the square alarm clock's center.",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Use the left arm to click the top of the clock with white dial",
+    "Use the left arm to tap the palm-sized dark blue clock's top center button.",
+    "Use the left arm to tap the square alarm clock's top button center",
+    "the left arm activates the square alarm clock by clicking the top button",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "the left arm presses the center top button on the white-faced alarm clock",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Point the left arm to press the button of the small plastic alarm clock.",
+    "Click the top center button of the square plastic alarm clock",
+    "Push the top button on the dark blue clock",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Push the button on the clock with white dial's top center.",
+    "Press the top button at the clock with black hands's center.",
+    "Touch the dark blue clock's center top button with the left arm",
+    "Press the white-faced alarm clock's top button using the left arm",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Use the left arm to activate the small plastic alarm clock's button",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Push the top button of the clock with black hands using the left arm",
+    "Click the center of the small clock with rounded edges's top",
+    "Press the button on the clock with white dial's top side",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Press the top middle button of the blue clock with green stripe",
+    "the left arm clicks the center top button on the dark blue clock",
+    "Press the center button on the square alarm clock's top.",
+    "Click the square plastic alarm clock's top center button using the left arm.",
+    "Direct the left arm to click the button found on the palm-sized dark blue clock.",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Guide the left arm to press the centered button on the clock with white dial.",
+    "Use the left arm to press the dark blue clock's top button",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Press the center top button of the dark blue clock",
+    "Use the left arm to click the center button on the clock with black hands",
+    "Use the left arm to press the small plastic alarm clock button",
+    "Touch the dark blue clock's button on the top side.",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "Activate the clock with white dial by pressing its top",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Use the left arm to press the central button on the dark blue clock.",
+    "Tap the button at the square alarm clock's top center.",
+    "Push the center area of the small plastic alarm clock's top",
+    "Use the left arm to press the small plastic alarm clock's top center button.",
+    "Tap the small plastic alarm clock's top button with the left arm",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Use the left arm to press the center top of the clock with white dial",
+    "Use the left arm to click the top of the white-faced alarm clock",
+    "Use the left arm to tap the clock with black hands's top center button.",
+    "Use the left arm to tap the small clock with rounded edges's top button center",
+    "the left arm activates the small plastic alarm clock by clicking the top button",
+    "Locate and press the top button on the clock with white dial",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "the left arm presses the center top button on the dark blue clock",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Hit the center of the blue clock with green stripe's top button",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Click the top center button of the square alarm clock",
+    "Push the top button on the square plastic alarm clock",
+    "Tap the center button on the clock with white dial.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Touch the palm-sized dark blue clock's center top button with the left arm",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Use the left arm to activate the white-faced alarm clock's button",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Push the top button of the palm-sized dark blue clock using the left arm",
+    "Click the center of the small clock with rounded edges's top",
+    "Press the button on the small plastic alarm clock's top side",
+    "Click the button centered on the square alarm clock.",
+    "Press the top middle button of the dark blue clock",
+    "the left arm clicks the center top button on the clock with white dial",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Click the clock with white dial's top center button using the left arm.",
+    "Direct the left arm to click the button found on the rounded square-shaped alarm clock.",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Guide the left arm to press the centered button on the palm-sized dark blue clock.",
+    "Use the left arm to press the clock with black hands's top button"
+  ],
+  "unseen": [
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode163.json b/aloha-agilex_randomized_500/instructions/episode163.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1731b272c339dc23bf1a20d6e7202bc28fd8e2e
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode163.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Use the right arm to press the clock with black hands's top button",
+    "Use the right arm to press the alarm clock with green stripe's top center button.",
+    "the right arm presses the center top button on the dark blue clock",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Click the center of the square alarm clock's top",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Use the right arm to activate the small plastic alarm clock's button",
+    "Push the top button on the alarm clock with green stripe",
+    "the right arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Click the top center button of the blue clock with green stripe",
+    "Press the button on the clock with black hands's top side",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Push the center area of the square alarm clock's top",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "Use the right arm to tap the white-faced alarm clock's top center button.",
+    "Activate the dark blue clock by pressing the top button",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Press the small plastic alarm clock's top button using the right arm",
+    "Guide the right arm to press the centered button on the square alarm clock.",
+    "Tap the center button on the dark blue clock.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Use the right arm to click the top center button on the alarm clock with green stripe.",
+    "Click the button centered on the blue clock with green stripe.",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Touch the clock with black hands's button on the top side.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "the right arm clicks the center top button on the clock with white dial",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "Locate and press the square alarm clock's top center button",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Locate and press the top button on the dark blue clock",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Click the middle button on the dark blue clock's top side",
+    "Use the right arm to tap the rounded square-shaped alarm clock's central button.",
+    "Touch the alarm clock with green stripe's center top button with the right arm",
+    "Push the button on the clock with white dial's top center.",
+    "Use the right arm to click the top of the rounded square-shaped alarm clock",
+    "Point the right arm to press the button of the alarm clock with green stripe.",
+    "Push the central button on the dark blue clock's top side.",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Click the center button on the dark blue clock's top side.",
+    "Use the right arm to press the square alarm clock's top button",
+    "Use the right arm to press the alarm clock with green stripe's top center button.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Push the top button of the rounded square-shaped alarm clock using the right arm",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Direct the right arm to click the button found on the small plastic alarm clock.",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Click the center of the white-faced alarm clock's top",
+    "Use the right arm to press the blue clock with green stripe button",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Use the right arm to activate the alarm clock with green stripe's button",
+    "Push the top button on the alarm clock with green stripe",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Click the top center button of the small clock with rounded edges",
+    "Press the button on the clock with black hands's top side",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Activate the clock with white dial by clicking its top button",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Press the top middle button of the square plastic alarm clock",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the right arm to tap the blue clock with green stripe's top button center",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Activate the dark blue clock by pressing the top button",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Press the clock with black hands's top button using the right arm",
+    "Guide the right arm to press the centered button on the blue clock with green stripe.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Use the right arm to click the top center button on the alarm clock with green stripe.",
+    "Click the button centered on the white-faced alarm clock.",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Touch the dark blue clock's button on the top side.",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "the right arm clicks the center top button on the rounded square-shaped alarm clock",
+    "Use the right arm to click the center button on the clock with black hands",
+    "Locate and press the small clock with rounded edges's top center button",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Click the middle button on the clock with black hands's top side",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Push the button on the clock with white dial's top center.",
+    "Use the right arm to click the top of the small clock with rounded edges",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Use the right arm to press the center top of the clock with white dial",
+    "Press the center top button of the small plastic alarm clock"
+  ],
+  "unseen": [
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode164.json b/aloha-agilex_randomized_500/instructions/episode164.json
new file mode 100644
index 0000000000000000000000000000000000000000..599bdd1b7dbf45f3184857ea7e09fb364e901138
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode164.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Click the top center button of the clock with white dial",
+    "Guide the right arm to press the centered button on the palm-sized dark blue clock.",
+    "Activate the square alarm clock by pressing the top button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Use the right arm to activate the small plastic alarm clock's button",
+    "Use the right arm to press the square alarm clock's top button",
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Press the center button on the square alarm clock's top.",
+    "Click the center button on the square alarm clock's top side.",
+    "Use the right arm to click the top of the square plastic alarm clock",
+    "Point the right arm to press the button of the rounded square-shaped alarm clock.",
+    "Push the top button of the clock with black hands using the right arm",
+    "Press the center top button of the square plastic alarm clock",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Use the right arm to press the center top of the palm-sized dark blue clock",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "Push the center area of the small clock with rounded edges's top",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Tap the center button on the small plastic alarm clock.",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Click the center of the white-faced alarm clock's top",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Touch the clock with white dial's button on the top side.",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Press the white-faced alarm clock's top button using the right arm",
+    "the right arm presses the center top button on the clock with black hands",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Push the top button on the square plastic alarm clock",
+    "Locate and press the top button on the square alarm clock",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Locate and press the clock with white dial's top center button",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Press the top middle button of the clock with black hands",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Click the button centered on the clock with black hands.",
+    "Activate the clock with black hands by pressing its top",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Click the top center button of the square plastic alarm clock",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Press the center top button on the clock with black hands with the right arm",
+    "Use the right arm to activate the small plastic alarm clock's button",
+    "Use the right arm to press the clock with black hands's top button",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Press the center button on the square alarm clock's top.",
+    "Click the center button on the clock with white dial's top side.",
+    "Use the right arm to click the top of the square alarm clock",
+    "Point the right arm to press the button of the small plastic alarm clock.",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Press the center top button of the square plastic alarm clock",
+    "Press the top button in the clock with black hands's center.",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Press the top button at the clock with white dial's center.",
+    "Activate the clock with white dial by clicking its top button",
+    "Use the right arm to tap the clock with white dial's central button.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Tap the center button on the square alarm clock.",
+    "the right arm activates the alarm clock with green stripe by clicking the top button",
+    "Click the center of the dark blue clock's top",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Touch the clock with black hands's button on the top side.",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Tap the button at the clock with white dial's top center.",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Use the right arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Touch the clock with white dial's center top button with the right arm",
+    "Press the palm-sized dark blue clock's top button using the right arm",
+    "the right arm presses the center top button on the alarm clock with green stripe",
+    "Use the right arm to press the blue clock with green stripe button",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Push the top button on the dark blue clock",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Tap the rounded square-shaped alarm clock's top button with the right arm",
+    "Locate and press the clock with white dial's top center button",
+    "Press the button on the small plastic alarm clock's top side",
+    "Press the top middle button of the small plastic alarm clock",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Hit the center of the clock with black hands's top button"
+  ],
+  "unseen": [
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode165.json b/aloha-agilex_randomized_500/instructions/episode165.json
new file mode 100644
index 0000000000000000000000000000000000000000..789043a0ad14a61ebc0e535f8b3a5afc3660baa9
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode165.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the small alarm-clock's top button using the right arm",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Use the right arm to tap the rectangular alarm-clock's central button.",
+    "Tap the lightweight plastic alarm-clock's top button with the right arm",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "the right arm activates the smooth black alarm-clock by clicking the top button",
+    "Use the right arm to click the top of the smooth black alarm-clock",
+    "Use the right arm to press the center top of the palm-sized alarm-clock",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Hit the center of the digital screen alarm-clock's top button",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Push the button on the compact alarm-clock's top center.",
+    "Direct the right arm to click the button found on the alarm-clock with rounded edges.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Use the right arm to activate the small alarm-clock's button",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Use the right arm to click the center button on the alarm-clock with buttons on side",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "Point the right arm to press the button of the black matte alarm-clock.",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm",
+    "Use the right arm to tap the black alarm-clock's top button center",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Press the top middle button of the compact alarm-clock",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Press the center top button of the black matte alarm-clock",
+    "Click the black alarm-clock's top center button using the right arm.",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Use the right arm to press the rectangular alarm-clock button",
+    "Use the right arm to press the compact alarm-clock's top button",
+    "Use the right arm to press the central button on the black matte alarm-clock.",
+    "Push the top button on the compact alarm-clock",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Press the black matte alarm-clock's top button using the right arm",
+    "Use the right arm to tap the compact alarm-clock's top center button.",
+    "Tap the center button on the black matte alarm-clock.",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Click the middle button on the alarm-clock with digital display's top side",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's central button.",
+    "Tap the palm-sized alarm-clock's top button with the right arm",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Tap the button at the small alarm-clock's top center.",
+    "Press the center top button on the compact alarm-clock with the right arm",
+    "the right arm activates the palm-sized alarm-clock by clicking the top button",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Use the right arm to press the center top of the black alarm-clock",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Click the center of the alarm-clock with digital display's top",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Direct the right arm to click the button found on the black alarm-clock.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "the right arm clicks the center top button on the compact alarm-clock",
+    "Click the button centered on the compact alarm-clock.",
+    "Use the right arm to activate the alarm-clock with digital display's button",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Use the right arm to click the center button on the alarm-clock with buttons on side",
+    "Push the center area of the compact alarm-clock's top",
+    "Use the right arm to press the small alarm-clock's top center button.",
+    "Use the right arm to click the top center button on the compact alarm-clock.",
+    "Ensure the right arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Point the right arm to press the button of the digital screen alarm-clock.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "the right arm presses the center top button on the digital screen alarm-clock",
+    "Touch the black alarm-clock's center top button with the right arm",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Click the center button on the black alarm-clock's top side.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Click the top center button of the rectangular alarm-clock",
+    "Press the center top button of the compact alarm-clock",
+    "Click the palm-sized alarm-clock's top center button using the right arm.",
+    "Locate and press the top button on the black alarm-clock",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Use the right arm to press the palm-sized alarm-clock's top button",
+    "Use the right arm to press the central button on the lightweight plastic alarm-clock.",
+    "Push the top button on the digital screen alarm-clock",
+    "Locate and press the alarm-clock with rounded edges's top center button"
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen."
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode166.json b/aloha-agilex_randomized_500/instructions/episode166.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8e1bad7b3f99c1d7e49cc40505042fafeae6db
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode166.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the small clock with rounded edges button",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Touch the small clock with rounded edges's center top button with the right arm",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Hit the center of the clock with white dial's top button",
+    "Locate and press the small clock with rounded edges's top center button",
+    "Push the top button on the white-faced alarm clock",
+    "Press the top button at the clock with black hands's center.",
+    "Click the button centered on the palm-sized dark blue clock.",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Press the clock with black hands's top button using the right arm",
+    "Push the center area of the clock with white dial's top",
+    "Use the right arm to tap the small plastic alarm clock's top center button.",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Click the alarm clock with green stripe's top center button using the right arm.",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "Tap the button at the clock with white dial's top center.",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Use the right arm to activate the clock with white dial's button",
+    "Use the right arm to press the clock with white dial's top button",
+    "Push the central button on the square alarm clock's top side.",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "Direct the right arm to click the button found on the alarm clock with green stripe.",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Press the center top button of the blue clock with green stripe",
+    "Push the top button of the square alarm clock using the right arm",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Click the top center button of the clock with black hands",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Press the button on the clock with white dial's top side",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "the right arm presses the center top button on the blue clock with green stripe",
+    "Use the right arm to press the central button on the alarm clock with green stripe.",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Use the right arm to tap the clock with white dial's central button.",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Click the center of the alarm clock with green stripe's top",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Guide the right arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Click the middle button on the clock with black hands's top side",
+    "Use the right arm to click the top center button on the clock with white dial.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Hit the center of the dark blue clock's top button",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Push the top button on the small plastic alarm clock",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Click the button centered on the clock with white dial.",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Press the palm-sized dark blue clock's top button using the right arm",
+    "Push the center area of the small plastic alarm clock's top",
+    "Use the right arm to tap the square plastic alarm clock's top center button.",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Use the right arm to press the clock with black hands's top center button.",
+    "Tap the button at the clock with white dial's top center.",
+    "Use the right arm to click the top of the clock with white dial",
+    "Use the right arm to activate the dark blue clock's button",
+    "Use the right arm to press the rounded square-shaped alarm clock's top button",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Point the right arm to press the button of the square plastic alarm clock.",
+    "Touch the clock with white dial's button on the top side.",
+    "Press the center button on the square plastic alarm clock's top.",
+    "the right arm activates the alarm clock with green stripe by clicking the top button",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "the right arm clicks the center top button on the small plastic alarm clock",
+    "Press the center top button of the square plastic alarm clock",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Click the top center button of the white-faced alarm clock",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Press the button on the white-faced alarm clock's top side",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Use the right arm to tap the white-faced alarm clock's top button center",
+    "the right arm presses the center top button on the clock with white dial",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Activate the alarm clock with green stripe by pressing the top button",
+    "Use the right arm to tap the clock with black hands's central button.",
+    "Press the center top button on the blue clock with green stripe with the right arm",
+    "Click the center of the small plastic alarm clock's top",
+    "Ensure the right arm clicks the top center button of the white-faced alarm clock",
+    "Tap the small plastic alarm clock's top button with the right arm"
+  ],
+  "unseen": [
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode167.json b/aloha-agilex_randomized_500/instructions/episode167.json
new file mode 100644
index 0000000000000000000000000000000000000000..3106d0813f36b5fe961e4e43ce28d5a0d9d08854
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode167.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the center button on the smooth black alarm-clock.",
+    "the left arm presses the center top button on the digital screen alarm-clock",
+    "Activate the black alarm-clock by pressing its top",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Push the top button on the compact alarm-clock",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Guide the left arm to press the centered button on the black matte alarm-clock.",
+    "Press the center top button of the alarm-clock with digital display",
+    "Locate and press the compact alarm-clock's top center button",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Use the left arm to press the black alarm-clock's top button",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Locate and press the top button on the small alarm-clock",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Click the alarm-clock with buttons on side's top center button using the left arm.",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Tap the alarm-clock with rounded edges's top button with the left arm",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "the left arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Direct the left arm to click the button found on the black alarm-clock.",
+    "Click the center of the small alarm-clock's top",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Hit the center of the compact alarm-clock's top button",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Use the left arm to press the central button on the rectangular alarm-clock.",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Use the left arm to press the center top of the compact alarm-clock",
+    "Use the left arm to click the center button on the alarm-clock with digital display",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Click the top center button of the compact alarm-clock",
+    "Push the center area of the black alarm-clock's top",
+    "Tap the center button on the smooth black alarm-clock.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Activate the small alarm-clock by clicking its top button",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Push the button on the small alarm-clock's top center.",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "Click the center button on the black alarm-clock's top side.",
+    "Guide the left arm to press the centered button on the black matte alarm-clock.",
+    "Press the center top button of the black alarm-clock",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Touch the smooth black alarm-clock's center top button with the left arm",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Click the alarm-clock with buttons on side's top center button using the left arm.",
+    "Press the top button in the small alarm-clock's center.",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Click the middle button on the black alarm-clock's top side",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Use the left arm to press the alarm-clock with buttons on side's top center button.",
+    "the left arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Press the alarm-clock with digital display's top button using the left arm",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Direct the left arm to click the button found on the black alarm-clock.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "the left arm clicks the center top button on the smooth black alarm-clock",
+    "Use the left arm to click the top center button on the smooth black alarm-clock.",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Use the left arm to click the center button on the black matte alarm-clock",
+    "Press the top middle button of the black matte alarm-clock",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Push the center area of the lightweight plastic alarm-clock's top"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen."
+  ]
+}
\ No newline at end of file
diff --git a/aloha-agilex_randomized_500/instructions/episode168.json b/aloha-agilex_randomized_500/instructions/episode168.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bea89ca9ebf173883c9b484e2b875f9ef0b1f18
--- /dev/null
+++ b/aloha-agilex_randomized_500/instructions/episode168.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to tap the alarm-clock with buttons on side's central button.",
+    "Click the digital screen alarm-clock's top center button using the right arm.",
+    "the right arm presses the center top button on the digital screen alarm-clock",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "the right arm clicks the center top button on the alarm-clock with rounded edges",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Locate and press the compact alarm-clock's top center button",
+    "Click the center of the alarm-clock with digital display's top",
+    "Point the right arm to press the button of the palm-sized alarm-clock.",
+    "Use the right arm to activate the compact alarm-clock's button",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Use the right arm to press the alarm-clock with digital display button",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Tap the alarm-clock with digital display's top button with the right arm",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Push the central button on the lightweight plastic alarm-clock's top side.",
+    "Click the top center button of the black alarm-clock",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Press the center top button of the rectangular alarm-clock",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Use the right arm to click the top of the small alarm-clock",
+    "Use the right arm to tap the black matte alarm-clock's top button center",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Ensure the right arm clicks the top center button of the alarm-clock with rounded edges",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Use the right arm to tap the smooth black alarm-clock's top center button.",
+    "Press the rectangular alarm-clock's top button using the right arm",
+    "Activate the small alarm-clock by clicking its top button",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Use the right arm to click the center button on the alarm-clock with rounded edges",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Touch the alarm-clock with buttons on side's center top button with the right arm",
+    "Use the right arm to tap the compact alarm-clock's central button.",
+    "Click the black matte alarm-clock's top center button using the right arm.",
+    "the right arm presses the center top button on the rectangular alarm-clock",
+    "Use the right arm to press the alarm-clock with buttons on side's top button",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Click the center of the rectangular alarm-clock's top",
+    "Point the right arm to press the button of the digital screen alarm-clock.",
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Use the right arm to press the small alarm-clock button",
+    "Use the right arm to press the smooth black alarm-clock's top center button.",
+    "Tap the smooth black alarm-clock's top button with the right arm",
+    "Push the top button on the digital screen alarm-clock",
+    "Use the right arm to press the center top of the small alarm-clock",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Push the central button on the small alarm-clock's top side.",
+    "Click the top center button of the digital screen alarm-clock",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Press the center top button of the black alarm-clock",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "Direct the right arm to click the button found on the alarm-clock with rounded edges.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Use the right arm to press the central button on the digital screen alarm-clock.",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Press the center top button on the alarm-clock with digital display with the right arm",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Press the smooth black alarm-clock's top button using the right arm",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Use the right arm to click the top center button on the black matte alarm-clock.",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Use the right arm to click the center button on the black alarm-clock",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Guide the right arm to press the centered button on the black matte alarm-clock.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm"
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file