Upload folder using huggingface_hub

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task_variation_summary.json

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 {
   "random_seed": 42,
   "total_episodes": 108,
-  "total_unique_tasks": 44,
+  "total_unique_tasks": 47,
   "tag_pools": {
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-      "Put the banana into the 1st bowl from the robot's left.",
-      "Put the banana into the bowl at position 1 from the robot's left.",
-      "Place the banana into the leftmost bowl.",
-      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the blue bowl.",
+      "Place the banana into the blue bowl.",
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-      "Put the banana into the bowl that is neither red nor green.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "Place the banana in the leftmost bowl.",
-      "Place the banana in the left bowl."
+      "Place the banana into the bowl that is not red and not green.",
+      "Put the banana into the leftmost bowl.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "Place the banana into the 1st bowl from the left from the robot perspective.",
+      "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the red bowl from the robot perspective."
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-      "Put the banana into the bowl at position 2 from the robot's left.",
-      "Place the banana into the center bowl.",
-      "Put the banana into the bowl directly between the blue and green bowls from the robot's perspective.",
-      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
-      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the red bowl.",
+      "Place the banana into the red bowl.",
       "Put the banana into the bowl that is not blue and not green.",
-      "Put the banana into the bowl that is neither blue nor green.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
-      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
-      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "Put the banana into the middle bowl."
+      "Place the banana into the bowl that is not blue and not green.",
+      "Put the banana into the center bowl.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the middle bowl.",
+      "Place the banana into the middle bowl.",
+      "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "Place the banana into the 2nd bowl from the left from the robot perspective.",
+      "Put the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "Put the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the green bowl from the robot perspective."
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-      "Put the banana into the bowl at position 3 from the robot's left.",
-      "Place the banana into the rightmost bowl.",
-      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "Put the banana into the green bowl.",
+      "Place the banana into the green bowl.",
       "Put the banana into the bowl that is not blue and not red.",
-      "Put the banana into the bowl that is neither blue nor red.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "Place the banana in the rightmost bowl.",
-      "Place the banana in the right bowl."
+      "Place the banana into the bowl that is not blue and not red.",
+      "Put the banana into the rightmost bowl.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the red bowl from the robot perspective."
     ],
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-      "Put the banana into the 1st bowl from the robot's left.",
-      "Put the banana into the bowl at position 1 from the robot's left.",
-      "Place the banana into the leftmost bowl.",
-      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the red bowl.",
+      "Place the banana into the red bowl.",
       "Put the banana into the bowl that is not blue and not green.",
-      "Put the banana into the bowl that is neither blue nor green.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "Place the banana in the leftmost bowl.",
-      "Place the banana in the left bowl."
+      "Place the banana into the bowl that is not blue and not green.",
+      "Put the banana into the leftmost bowl.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "Place the banana into the 1st bowl from the left from the robot perspective.",
+      "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the blue bowl from the robot perspective."
     ],
     "RBG/B": [
-      "Put the banana into the 2nd bowl from the robot's left.",
-      "Put the banana into the bowl at position 2 from the robot's left.",
-      "Place the banana into the center bowl.",
-      "Put the banana into the bowl directly between the red and green bowls from the robot's perspective.",
-      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
-      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the blue bowl.",
+      "Place the banana into the blue bowl.",
       "Put the banana into the bowl that is not red and not green.",
-      "Put the banana into the bowl that is neither red nor green.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
-      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "Put the banana into the middle bowl."
+      "Place the banana into the bowl that is not red and not green.",
+      "Put the banana into the center bowl.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the middle bowl.",
+      "Place the banana into the middle bowl.",
+      "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "Place the banana into the 2nd bowl from the left from the robot perspective.",
+      "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "Put the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the green bowl from the robot perspective."
     ],
     "RBG/G": [
-      "Put the banana into the 3rd bowl from the robot's left.",
-      "Put the banana into the bowl at position 3 from the robot's left.",
-      "Place the banana into the rightmost bowl.",
-      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "Put the banana into the green bowl.",
+      "Place the banana into the green bowl.",
       "Put the banana into the bowl that is not red and not blue.",
-      "Put the banana into the bowl that is neither red nor blue.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
-      "Place the banana in the rightmost bowl.",
-      "Place the banana in the right bowl."
+      "Place the banana into the bowl that is not red and not blue.",
+      "Put the banana into the rightmost bowl.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the blue bowl from the robot perspective."
     ],
     "BGR/B": [
-      "Put the banana into the 1st bowl from the robot's left.",
-      "Put the banana into the bowl at position 1 from the robot's left.",
-      "Place the banana into the leftmost bowl.",
-      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the blue bowl.",
+      "Place the banana into the blue bowl.",
       "Put the banana into the bowl that is not green and not red.",
-      "Put the banana into the bowl that is neither green nor red.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
-      "Place the banana in the leftmost bowl.",
-      "Place the banana in the left bowl."
+      "Place the banana into the bowl that is not green and not red.",
+      "Put the banana into the leftmost bowl.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "Place the banana into the 1st bowl from the left from the robot perspective.",
+      "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the green bowl from the robot perspective."
     ],
     "BGR/G": [
-      "Put the banana into the 2nd bowl from the robot's left.",
-      "Put the banana into the bowl at position 2 from the robot's left.",
-      "Place the banana into the center bowl.",
-      "Put the banana into the bowl directly between the blue and red bowls from the robot's perspective.",
-      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
-      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the green bowl.",
+      "Place the banana into the green bowl.",
       "Put the banana into the bowl that is not blue and not red.",
-      "Put the banana into the bowl that is neither blue nor red.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
-      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "Put the banana into the middle bowl."
+      "Place the banana into the bowl that is not blue and not red.",
+      "Put the banana into the center bowl.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the middle bowl.",
+      "Place the banana into the middle bowl.",
+      "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "Place the banana into the 2nd bowl from the left from the robot perspective.",
+      "Put the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the red bowl from the robot perspective."
     ],
     "BGR/R": [
-      "Put the banana into the 3rd bowl from the robot's left.",
-      "Put the banana into the bowl at position 3 from the robot's left.",
-      "Place the banana into the rightmost bowl.",
-      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
+      "Put the banana into the red bowl.",
+      "Place the banana into the red bowl.",
       "Put the banana into the bowl that is not blue and not green.",
-      "Put the banana into the bowl that is neither blue nor green.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
-      "Place the banana in the rightmost bowl.",
-      "Place the banana in the right bowl."
+      "Place the banana into the bowl that is not blue and not green.",
+      "Put the banana into the rightmost bowl.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the green bowl from the robot perspective."
     ],
     "RGB/R": [
-      "Put the banana into the 1st bowl from the robot's left.",
-      "Put the banana into the bowl at position 1 from the robot's left.",
-      "Place the banana into the leftmost bowl.",
-      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the red bowl.",
+      "Place the banana into the red bowl.",
       "Put the banana into the bowl that is not green and not blue.",
-      "Put the banana into the bowl that is neither green nor blue.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
-      "Place the banana in the leftmost bowl.",
-      "Place the banana in the left bowl."
+      "Place the banana into the bowl that is not green and not blue.",
+      "Put the banana into the leftmost bowl.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "Place the banana into the 1st bowl from the left from the robot perspective.",
+      "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the green bowl from the robot perspective."
     ],
     "RGB/G": [
-      "Put the banana into the 2nd bowl from the robot's left.",
-      "Put the banana into the bowl at position 2 from the robot's left.",
-      "Place the banana into the center bowl.",
-      "Put the banana into the bowl directly between the red and blue bowls from the robot's perspective.",
-      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
-      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the green bowl.",
+      "Place the banana into the green bowl.",
       "Put the banana into the bowl that is not red and not blue.",
-      "Put the banana into the bowl that is neither red nor blue.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "Put the banana into the middle bowl."
+      "Place the banana into the bowl that is not red and not blue.",
+      "Put the banana into the center bowl.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the middle bowl.",
+      "Place the banana into the middle bowl.",
+      "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "Place the banana into the 2nd bowl from the left from the robot perspective.",
+      "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "Put the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the blue bowl from the robot perspective."
     ],
     "RGB/B": [
-      "Put the banana into the 3rd bowl from the robot's left.",
-      "Put the banana into the bowl at position 3 from the robot's left.",
-      "Place the banana into the rightmost bowl.",
-      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
+      "Put the banana into the blue bowl.",
+      "Place the banana into the blue bowl.",
       "Put the banana into the bowl that is not red and not green.",
-      "Put the banana into the bowl that is neither red nor green.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
-      "Place the banana in the rightmost bowl.",
-      "Place the banana in the right bowl."
+      "Place the banana into the bowl that is not red and not green.",
+      "Put the banana into the rightmost bowl.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the green bowl from the robot perspective."
     ],
     "GRB/G": [
-      "Put the banana into the 1st bowl from the robot's left.",
-      "Put the banana into the bowl at position 1 from the robot's left.",
-      "Place the banana into the leftmost bowl.",
-      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the green bowl.",
+      "Place the banana into the green bowl.",
       "Put the banana into the bowl that is not red and not blue.",
-      "Put the banana into the bowl that is neither red nor blue.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "Place the banana in the leftmost bowl.",
-      "Place the banana in the left bowl."
+      "Place the banana into the bowl that is not red and not blue.",
+      "Put the banana into the leftmost bowl.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "Place the banana into the 1st bowl from the left from the robot perspective.",
+      "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the red bowl from the robot perspective."
     ],
     "GRB/R": [
-      "Put the banana into the 2nd bowl from the robot's left.",
-      "Put the banana into the bowl at position 2 from the robot's left.",
-      "Place the banana into the center bowl.",
-      "Put the banana into the bowl directly between the green and blue bowls from the robot's perspective.",
-      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
-      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the red bowl.",
+      "Place the banana into the red bowl.",
       "Put the banana into the bowl that is not green and not blue.",
-      "Put the banana into the bowl that is neither green nor blue.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
-      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "Put the banana into the middle bowl."
+      "Place the banana into the bowl that is not green and not blue.",
+      "Put the banana into the center bowl.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the middle bowl.",
+      "Place the banana into the middle bowl.",
+      "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "Place the banana into the 2nd bowl from the left from the robot perspective.",
+      "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "Put the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the blue bowl from the robot perspective."
     ],
     "GRB/B": [
-      "Put the banana into the 3rd bowl from the robot's left.",
-      "Put the banana into the bowl at position 3 from the robot's left.",
-      "Place the banana into the rightmost bowl.",
-      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "Put the banana into the blue bowl.",
+      "Place the banana into the blue bowl.",
       "Put the banana into the bowl that is not green and not red.",
-      "Put the banana into the bowl that is neither green nor red.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "Place the banana in the rightmost bowl.",
-      "Place the banana in the right bowl."
+      "Place the banana into the bowl that is not green and not red.",
+      "Put the banana into the rightmost bowl.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the red bowl from the robot perspective."
     ],
     "GBR/G": [
-      "Put the banana into the 1st bowl from the robot's left.",
-      "Put the banana into the bowl at position 1 from the robot's left.",
-      "Place the banana into the leftmost bowl.",
-      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the green bowl.",
+      "Place the banana into the green bowl.",
       "Put the banana into the bowl that is not blue and not red.",
-      "Put the banana into the bowl that is neither blue nor red.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "Place the banana in the leftmost bowl.",
-      "Place the banana in the left bowl."
+      "Place the banana into the bowl that is not blue and not red.",
+      "Put the banana into the leftmost bowl.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "Place the banana into the 1st bowl from the left from the robot perspective.",
+      "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the blue bowl from the robot perspective."
     ],
     "GBR/B": [
-      "Put the banana into the 2nd bowl from the robot's left.",
-      "Put the banana into the bowl at position 2 from the robot's left.",
-      "Place the banana into the center bowl.",
-      "Put the banana into the bowl directly between the green and red bowls from the robot's perspective.",
-      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
-      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the blue bowl.",
+      "Place the banana into the blue bowl.",
       "Put the banana into the bowl that is not green and not red.",
-      "Put the banana into the bowl that is neither green nor red.",
-      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
-      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "Put the banana into the middle bowl."
+      "Place the banana into the bowl that is not green and not red.",
+      "Put the banana into the center bowl.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the middle bowl.",
+      "Place the banana into the middle bowl.",
+      "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "Place the banana into the 2nd bowl from the left from the robot perspective.",
+      "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "Place the banana into the bowl on the left of the red bowl from the robot perspective."
     ],
     "GBR/R": [
-      "Put the banana into the 3rd bowl from the robot's left.",
-      "Put the banana into the bowl at position 3 from the robot's left.",
-      "Place the banana into the rightmost bowl.",
-      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "Put the banana into the red bowl.",
+      "Place the banana into the red bowl.",
       "Put the banana into the bowl that is not green and not blue.",
-      "Put the banana into the bowl that is neither green nor blue.",
-      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
-      "Place the banana in the rightmost bowl.",
-      "Place the banana in the right bowl."
+      "Place the banana into the bowl that is not green and not blue.",
+      "Put the banana into the rightmost bowl.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "Put the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "Place the banana into the bowl on the right of the blue bowl from the robot perspective."
     ]
   },
   "episode_assignments": [
     {
       "episode_index": 0,
       "tag": "BRG/B",
-      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "task_index": 13
+      "task": "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 32
     },
     {
       "episode_index": 1,
       "tag": "BRG/B",
-      "task": "Put the banana into the bowl at position 1 from the robot's left.",
-      "task_index": 17
+      "task": "Place the banana into the blue bowl.",
+      "task_index": 5
     },
     {
       "episode_index": 2,
       "tag": "BRG/B",
-      "task": "Put the banana into the 1st bowl from the robot's left.",
-      "task_index": 14
+      "task": "Put the banana into the blue bowl.",
+      "task_index": 29
     },
     {
       "episode_index": 3,
       "tag": "BRG/B",
-      "task": "Place the banana in the leftmost bowl.",
-      "task_index": 4
+      "task": "Place the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 8
     },
     {
       "episode_index": 4,
       "tag": "BRG/B",
-      "task": "Put the banana into the bowl that is not red and not green.",
-      "task_index": 36
+      "task": "Put the banana into the leftmost bowl.",
+      "task_index": 43
     },
     {
       "episode_index": 5,
       "tag": "BRG/B",
-      "task": "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
-      "task_index": 41
+      "task": "Place the banana into the bowl that is not red and not green.",
+      "task_index": 16
     },
     {
       "episode_index": 6,
       "tag": "BRG/R",
-      "task": "Put the banana into the bowl that is neither blue nor green.",
-      "task_index": 26
+      "task": "Place the banana into the middle bowl.",
+      "task_index": 20
     },
     {
       "episode_index": 7,
       "tag": "BRG/R",
-      "task": "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
-      "task_index": 42
+      "task": "Put the banana into the center bowl.",
+      "task_index": 41
     },
     {
       "episode_index": 8,
       "tag": "BRG/R",
-      "task": "Put the banana into the bowl directly between the blue and green bowls from the robot's perspective.",
-      "task_index": 20
+      "task": "Place the banana into the bowl that is not blue and not green.",
+      "task_index": 11
     },
     {
       "episode_index": 9,
       "tag": "BRG/R",
-      "task": "Place the banana into the center bowl.",
-      "task_index": 7
+      "task": "Put the banana into the bowl that is not blue and not green.",
+      "task_index": 36
     },
     {
       "episode_index": 10,
       "tag": "BRG/R",
-      "task": "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
+      "task": "Place the banana into the bowl on the right of the blue bowl from the robot perspective.",
       "task_index": 9
     },
     {
       "episode_index": 11,
       "tag": "BRG/R",
-      "task": "Put the banana into the bowl at position 2 from the robot's left.",
-      "task_index": 18
+      "task": "Place the banana into the red bowl.",
+      "task_index": 21
     },
     {
       "episode_index": 12,
       "tag": "BRG/G",
-      "task": "Put the banana into the 3rd bowl from the robot's left.",
-      "task_index": 16
+      "task": "Put the banana into the green bowl.",
+      "task_index": 42
     },
     {
       "episode_index": 13,
       "tag": "BRG/G",
-      "task": "Put the banana into the bowl at position 3 from the robot's left.",
-      "task_index": 19
+      "task": "Place the banana into the green bowl.",
+      "task_index": 18
     },
     {
       "episode_index": 14,
       "tag": "BRG/G",
-      "task": "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
-      "task_index": 43
+      "task": "Place the banana into the bowl that is not blue and not red.",
+      "task_index": 12
     },
     {
       "episode_index": 15,
       "tag": "BRG/G",
-      "task": "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
-      "task_index": 43
+      "task": "Place the banana into the bowl that is not blue and not red.",
+      "task_index": 12
     },
     {
       "episode_index": 16,
       "tag": "BRG/G",
-      "task": "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "task_index": 25
+      "task": "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "task_index": 24
     },
     {
       "episode_index": 17,
       "tag": "BRG/G",
-      "task": "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "task_index": 2
+      "task": "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "task_index": 0
     },
     {
       "episode_index": 18,
       "tag": "RBG/R",
-      "task": "Put the banana into the 1st bowl from the robot's left.",
-      "task_index": 14
+      "task": "Put the banana into the red bowl.",
+      "task_index": 45
     },
     {
       "episode_index": 19,
       "tag": "RBG/R",
-      "task": "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
-      "task_index": 23
+      "task": "Put the banana into the 3rd bowl from the right from the robot perspective.",
+      "task_index": 28
     },
     {
       "episode_index": 20,
       "tag": "RBG/R",
-      "task": "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
-      "task_index": 39
+      "task": "Place the banana into the bowl that is not blue and not green.",
+      "task_index": 11
     },
     {
       "episode_index": 21,
       "tag": "RBG/R",
-      "task": "Place the banana in the leftmost bowl.",
-      "task_index": 4
+      "task": "Place the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "task_index": 6
     },
     {
       "episode_index": 22,
       "tag": "RBG/R",
-      "task": "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "task_index": 12
+      "task": "Put the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "task_index": 30
     },
     {
       "episode_index": 23,
       "tag": "RBG/R",
-      "task": "Place the banana in the leftmost bowl.",
-      "task_index": 4
+      "task": "Place the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "task_index": 6
     },
     {
       "episode_index": 24,
       "tag": "RBG/B",
-      "task": "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "task_index": 11
+      "task": "Place the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "task_index": 10
     },
     {
       "episode_index": 25,
       "tag": "RBG/B",
-      "task": "Put the banana into the bowl that is neither red nor green.",
-      "task_index": 31
+      "task": "Place the banana into the middle bowl.",
+      "task_index": 20
     },
     {
       "episode_index": 26,
       "tag": "RBG/B",
-      "task": "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "task_index": 6
+      "task": "Put the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "task_index": 31
     },
     {
       "episode_index": 27,
       "tag": "RBG/B",
-      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "task_index": 38
+      "task": "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "task_index": 26
     },
     {
       "episode_index": 28,
       "tag": "RBG/B",
-      "task": "Put the banana into the 2nd bowl from the robot's left.",
-      "task_index": 15
+      "task": "Put the banana into the blue bowl.",
+      "task_index": 29
     },
     {
       "episode_index": 29,
       "tag": "RBG/B",
-      "task": "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
-      "task_index": 40
+      "task": "Place the banana into the center bowl.",
+      "task_index": 17
     },
     {
       "episode_index": 30,
       "tag": "RBG/G",
-      "task": "Place the banana in the rightmost bowl.",
-      "task_index": 5
+      "task": "Place the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "task_index": 9
     },
     {
       "episode_index": 31,
       "tag": "RBG/G",
-      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "task_index": 37
+      "task": "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "task_index": 27
     },
     {
       "episode_index": 32,
       "tag": "RBG/G",
-      "task": "Put the banana into the bowl that is neither red nor blue.",
-      "task_index": 30
+      "task": "Place the banana into the rightmost bowl.",
+      "task_index": 22
     },
     {
       "episode_index": 33,
       "tag": "RBG/G",
-      "task": "Put the banana into the bowl that is not red and not blue.",
-      "task_index": 35
+      "task": "Put the banana into the rightmost bowl.",
+      "task_index": 46
     },
     {
       "episode_index": 34,
       "tag": "RBG/G",
-      "task": "Place the banana into the rightmost bowl.",
-      "task_index": 8
+      "task": "Put the banana into the bowl that is not red and not blue.",
+      "task_index": 39
     },
     {
       "episode_index": 35,
       "tag": "RBG/G",
-      "task": "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
-      "task_index": 42
+      "task": "Place the banana into the bowl that is not red and not blue.",
+      "task_index": 15
     },
     {
       "episode_index": 36,
       "tag": "BGR/B",
-      "task": "Place the banana in the left bowl.",
-      "task_index": 3
+      "task": "Place the banana into the leftmost bowl.",
+      "task_index": 19
     },
     {
       "episode_index": 37,
       "tag": "BGR/B",
-      "task": "Put the banana into the bowl that is neither green nor red.",
-      "task_index": 29
+      "task": "Place the banana into the blue bowl.",
+      "task_index": 5
     },
     {
       "episode_index": 38,
       "tag": "BGR/B",
-      "task": "Put the banana into the bowl at position 1 from the robot's left.",
-      "task_index": 17
+      "task": "Place the banana into the blue bowl.",
+      "task_index": 5
     },
     {
       "episode_index": 39,
       "tag": "BGR/B",
-      "task": "Put the banana into the bowl at position 1 from the robot's left.",
-      "task_index": 17
+      "task": "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "task_index": 23
     },
     {
       "episode_index": 40,
       "tag": "BGR/B",
-      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "task_index": 38
+      "task": "Place the banana into the blue bowl.",
+      "task_index": 5
     },
     {
       "episode_index": 41,
       "tag": "BGR/B",
-      "task": "Put the banana into the bowl at position 1 from the robot's left.",
-      "task_index": 17
+      "task": "Place the banana into the leftmost bowl.",
+      "task_index": 19
     },
     {
       "episode_index": 42,
       "tag": "BGR/G",
-      "task": "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "task": "Place the banana into the 2nd bowl from the left from the robot perspective.",
       "task_index": 1
     },
     {
       "episode_index": 43,
       "tag": "BGR/G",
-      "task": "Place the banana in the bowl whose position number from the robot's left equals 2.",
-      "task_index": 1
+      "task": "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "task_index": 26
     },
     {
       "episode_index": 44,
       "tag": "BGR/G",
-      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "task_index": 38
+      "task": "Place the banana into the green bowl.",
+      "task_index": 18
     },
     {
       "episode_index": 45,
       "tag": "BGR/G",
-      "task": "Put the banana into the bowl at position 2 from the robot's left.",
-      "task_index": 18
+      "task": "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 32
     },
     {
       "episode_index": 46,
       "tag": "BGR/G",
-      "task": "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "task_index": 6
+      "task": "Place the banana into the bowl that is not blue and not red.",
+      "task_index": 12
     },
     {
       "episode_index": 47,
       "tag": "BGR/G",
-      "task": "Put the banana into the bowl directly between the blue and red bowls from the robot's perspective.",
-      "task_index": 21
+      "task": "Put the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "task_index": 33
     },
     {
       "episode_index": 48,
       "tag": "BGR/R",
-      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "task_index": 37
+      "task": "Place the banana into the red bowl.",
+      "task_index": 21
     },
     {
       "episode_index": 49,
       "tag": "BGR/R",
-      "task": "Put the banana into the bowl at position 3 from the robot's left.",
-      "task_index": 19
+      "task": "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "task_index": 24
     },
     {
       "episode_index": 50,
       "tag": "BGR/R",
-      "task": "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "task_index": 25
+      "task": "Put the banana into the rightmost bowl.",
+      "task_index": 46
     },
     {
       "episode_index": 51,
       "tag": "BGR/R",
-      "task": "Put the banana into the bowl that is not blue and not green.",
-      "task_index": 32
+      "task": "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "task_index": 34
     },
     {
       "episode_index": 52,
       "tag": "BGR/R",
-      "task": "Put the banana in the bowl that comes after the green one from the robot's perspective.",
-      "task_index": 10
+      "task": "Place the banana into the 1st bowl from the right from the robot perspective.",
+      "task_index": 0
     },
     {
       "episode_index": 53,
       "tag": "BGR/R",
-      "task": "Place the banana in the bowl whose position number from the robot's left equals 3.",
-      "task_index": 2
+      "task": "Place the banana into the rightmost bowl.",
+      "task_index": 22
     },
     {
       "episode_index": 54,
       "tag": "RGB/R",
-      "task": "Put the banana into the bowl that is neither green nor blue.",
-      "task_index": 28
+      "task": "Place the banana into the 3rd bowl from the right from the robot perspective.",
+      "task_index": 4
     },
     {
       "episode_index": 55,
       "tag": "RGB/R",
-      "task": "Place the banana in the bowl whose position number from the robot's left equals 1.",
-      "task_index": 0
+      "task": "Place the banana into the bowl that is not green and not blue.",
+      "task_index": 13
     },
     {
       "episode_index": 56,
       "tag": "RGB/R",
-      "task": "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
-      "task_index": 40
+      "task": "Place the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "task_index": 7
     },
     {
       "episode_index": 57,
       "tag": "RGB/R",
-      "task": "Place the banana in the leftmost bowl.",
-      "task_index": 4
+      "task": "Place the banana into the red bowl.",
+      "task_index": 21
     },
     {
       "episode_index": 58,
       "tag": "RGB/R",
-      "task": "Put the banana into the bowl at position 1 from the robot's left.",
-      "task_index": 17
+      "task": "Put the banana into the red bowl.",
+      "task_index": 45
     },
     {
       "episode_index": 59,
       "tag": "RGB/R",
-      "task": "Put the banana into the 1st bowl from the robot's left.",
-      "task_index": 14
+      "task": "Put the banana into the bowl on the left of the green bowl from the robot perspective.",
+      "task_index": 31
     },
     {
       "episode_index": 60,
       "tag": "RGB/G",
-      "task": "Put the banana into the bowl that is neither red nor blue.",
-      "task_index": 30
+      "task": "Place the banana into the middle bowl.",
+      "task_index": 20
     },
     {
       "episode_index": 61,
       "tag": "RGB/G",
-      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
-      "task_index": 37
+      "task": "Place the banana into the 2nd bowl from the right from the robot perspective.",
+      "task_index": 2
     },
     {
       "episode_index": 62,
       "tag": "RGB/G",
-      "task": "Place the banana into the center bowl.",
-      "task_index": 7
+      "task": "Put the banana into the bowl that is not red and not blue.",
+      "task_index": 39
     },
     {
       "episode_index": 63,
       "tag": "RGB/G",
-      "task": "Put the banana into the bowl that is neither red nor blue.",
-      "task_index": 30
+      "task": "Place the banana into the middle bowl.",
+      "task_index": 20
     },
     {
       "episode_index": 64,
       "tag": "RGB/G",
-      "task": "Put the banana into the bowl directly between the red and blue bowls from the robot's perspective.",
-      "task_index": 22
+      "task": "Place the banana into the bowl that is not red and not blue.",
+      "task_index": 15
     },
     {
       "episode_index": 65,
       "tag": "RGB/G",
-      "task": "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "task_index": 12
+      "task": "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "task_index": 35
     },
     {
       "episode_index": 66,
       "tag": "RGB/B",
-      "task": "Put the banana into the bowl that is not red and not green.",
-      "task_index": 36
+      "task": "Put the banana into the rightmost bowl.",
+      "task_index": 46
     },
     {
       "episode_index": 67,
       "tag": "RGB/B",
-      "task": "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "task_index": 34
+      "task": "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "task_index": 3
     },
     {
       "episode_index": 68,
       "tag": "RGB/B",
-      "task": "Put the banana in the bowl that comes after the green one from the robot's perspective.",
-      "task_index": 10
+      "task": "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "task_index": 34
     },
     {
       "episode_index": 69,
       "tag": "RGB/B",
-      "task": "Put the banana into the bowl that is neither red nor green.",
-      "task_index": 31
+      "task": "Place the banana into the rightmost bowl.",
+      "task_index": 22
     },
     {
       "episode_index": 70,
       "tag": "RGB/B",
-      "task": "Place the banana into the rightmost bowl.",
-      "task_index": 8
+      "task": "Put the banana into the bowl that is not red and not green.",
+      "task_index": 40
     },
     {
       "episode_index": 71,
       "tag": "RGB/B",
-      "task": "Put the banana into the bowl that is neither red nor green.",
-      "task_index": 31
+      "task": "Place the banana into the rightmost bowl.",
+      "task_index": 22
     },
     {
       "episode_index": 72,
       "tag": "GRB/G",
-      "task": "Put the banana into the bowl that is neither red nor blue.",
-      "task_index": 30
+      "task": "Place the banana into the leftmost bowl.",
+      "task_index": 19
     },
     {
       "episode_index": 73,
       "tag": "GRB/G",
-      "task": "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
-      "task_index": 41
+      "task": "Place the banana into the bowl that is not red and not blue.",
+      "task_index": 15
     },
     {
       "episode_index": 74,
       "tag": "GRB/G",
-      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "task_index": 13
+      "task": "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 32
     },
     {
       "episode_index": 75,
       "tag": "GRB/G",
-      "task": "Put the banana into the bowl that is not red and not blue.",
-      "task_index": 35
+      "task": "Put the banana into the leftmost bowl.",
+      "task_index": 43
     },
     {
       "episode_index": 76,
       "tag": "GRB/G",
-      "task": "Place the banana in the leftmost bowl.",
-      "task_index": 4
+      "task": "Place the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 8
     },
     {
       "episode_index": 77,
       "tag": "GRB/G",
-      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "task_index": 13
+      "task": "Put the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 32
     },
     {
       "episode_index": 78,
       "tag": "GRB/R",
-      "task": "Place the banana into the center bowl.",
-      "task_index": 7
+      "task": "Put the banana into the bowl that is not green and not blue.",
+      "task_index": 37
     },
     {
       "episode_index": 79,
       "tag": "GRB/R",
-      "task": "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
-      "task_index": 39
+      "task": "Place the banana into the center bowl.",
+      "task_index": 17
     },
     {
       "episode_index": 80,
       "tag": "GRB/R",
-      "task": "Put the banana into the bowl that is neither green nor blue.",
-      "task_index": 28
+      "task": "Place the banana into the middle bowl.",
+      "task_index": 20
     },
     {
       "episode_index": 81,
       "tag": "GRB/R",
-      "task": "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
-      "task_index": 39
+      "task": "Place the banana into the center bowl.",
+      "task_index": 17
     },
     {
       "episode_index": 82,
       "tag": "GRB/R",
-      "task": "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
-      "task_index": 6
+      "task": "Put the banana into the bowl on the left of the blue bowl from the robot perspective.",
+      "task_index": 30
     },
     {
       "episode_index": 83,
       "tag": "GRB/R",
-      "task": "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
-      "task_index": 12
+      "task": "Put the banana into the bowl on the right of the green bowl from the robot perspective.",
+      "task_index": 34
     },
     {
       "episode_index": 84,
       "tag": "GRB/B",
-      "task": "Put the banana into the bowl that is not green and not red.",
-      "task_index": 33
+      "task": "Put the banana into the rightmost bowl.",
+      "task_index": 46
     },
     {
       "episode_index": 85,
       "tag": "GRB/B",
-      "task": "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "task_index": 11
+      "task": "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "task_index": 35
     },
     {
       "episode_index": 86,
       "tag": "GRB/B",
-      "task": "Place the banana in the rightmost bowl.",
-      "task_index": 5
+      "task": "Place the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "task_index": 10
     },
     {
       "episode_index": 87,
       "tag": "GRB/B",
-      "task": "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
-      "task_index": 25
+      "task": "Put the banana into the 1st bowl from the right from the robot perspective.",
+      "task_index": 24
     },
     {
       "episode_index": 88,
       "tag": "GRB/B",
-      "task": "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
-      "task_index": 43
+      "task": "Place the banana into the bowl that is not green and not red.",
+      "task_index": 14
     },
     {
       "episode_index": 89,
       "tag": "GRB/B",
-      "task": "Put the banana in the bowl that comes after the red one from the robot's perspective.",
-      "task_index": 11
+      "task": "Put the banana into the bowl on the right of the red bowl from the robot perspective.",
+      "task_index": 35
     },
     {
       "episode_index": 90,
       "tag": "GBR/G",
-      "task": "Put the banana into the bowl that is neither blue nor red.",
-      "task_index": 27
+      "task": "Place the banana into the leftmost bowl.",
+      "task_index": 19
     },
     {
       "episode_index": 91,
       "tag": "GBR/G",
-      "task": "Place the banana in the left bowl.",
-      "task_index": 3
+      "task": "Put the banana into the green bowl.",
+      "task_index": 42
     },
     {
       "episode_index": 92,
       "tag": "GBR/G",
-      "task": "Place the banana in the left bowl.",
-      "task_index": 3
+      "task": "Place the banana into the bowl that is not blue and not red.",
+      "task_index": 12
     },
     {
       "episode_index": 93,
       "tag": "GBR/G",
-      "task": "Put the banana into the 1st bowl from the robot's left.",
-      "task_index": 14
+      "task": "Put the banana into the green bowl.",
+      "task_index": 42
     },
     {
       "episode_index": 94,
       "tag": "GBR/G",
-      "task": "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
-      "task_index": 39
+      "task": "Place the banana into the leftmost bowl.",
+      "task_index": 19
     },
     {
       "episode_index": 95,
       "tag": "GBR/G",
-      "task": "Put the banana into the 1st bowl from the robot's left.",
-      "task_index": 14
+      "task": "Put the banana into the 1st bowl from the left from the robot perspective.",
+      "task_index": 23
     },
     {
       "episode_index": 96,
       "tag": "GBR/B",
-      "task": "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "task_index": 24
+      "task": "Put the banana into the 2nd bowl from the right from the robot perspective.",
+      "task_index": 26
     },
     {
       "episode_index": 97,
       "tag": "GBR/B",
-      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
-      "task_index": 13
+      "task": "Put the banana into the bowl that is not green and not red.",
+      "task_index": 38
     },
     {
       "episode_index": 98,
       "tag": "GBR/B",
-      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
-      "task_index": 38
+      "task": "Put the banana into the middle bowl.",
+      "task_index": 44
     },
     {
       "episode_index": 99,
       "tag": "GBR/B",
-      "task": "Place the banana into the center bowl.",
-      "task_index": 7
+      "task": "Put the banana into the 2nd bowl from the left from the robot perspective.",
+      "task_index": 25
     },
     {
       "episode_index": 100,
       "tag": "GBR/B",
-      "task": "Put the banana into the bowl that is not green and not red.",
-      "task_index": 33
+      "task": "Put the banana into the middle bowl.",
+      "task_index": 44
     },
     {
       "episode_index": 101,
       "tag": "GBR/B",
-      "task": "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
-      "task_index": 24
+      "task": "Place the banana into the bowl on the left of the red bowl from the robot perspective.",
+      "task_index": 8
     },
     {
       "episode_index": 102,
       "tag": "GBR/R",
-      "task": "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
-      "task_index": 42
+      "task": "Put the banana into the 3rd bowl from the left from the robot perspective.",
+      "task_index": 27
     },
     {
       "episode_index": 103,
       "tag": "GBR/R",
-      "task": "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
-      "task_index": 9
+      "task": "Put the banana into the bowl on the right of the blue bowl from the robot perspective.",
+      "task_index": 33
     },
     {
       "episode_index": 104,
       "tag": "GBR/R",
-      "task": "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "task_index": 34
+      "task": "Place the banana into the 3rd bowl from the left from the robot perspective.",
+      "task_index": 3
     },
     {
       "episode_index": 105,
       "tag": "GBR/R",
-      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "task": "Put the banana into the bowl that is not green and not blue.",
       "task_index": 37
     },
     {
       "episode_index": 106,
       "tag": "GBR/R",
-      "task": "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
-      "task_index": 9
+      "task": "Put the banana into the rightmost bowl.",
+      "task_index": 46
     },
     {
       "episode_index": 107,
       "tag": "GBR/R",
-      "task": "Put the banana into the bowl that is not in the middle from the robot's perspective.",
-      "task_index": 34
+      "task": "Put the banana into the bowl that is not green and not blue.",
+      "task_index": 37
     }
   ]
 }