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diff --git a/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008353.hdf5 b/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008353.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e4ac69e59d96456d78828c9d15c85b61fbe128ba
--- /dev/null
+++ b/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008353.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6925740
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001092.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001092.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a41987f20e68c202401d971d8228a191eaceae6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001092.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the white dome bell's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the center top of the compact tabletop bell.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Click the white bell at its top center on table.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Press down the bell with black flat base's top center gently.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Press the center top of the bell with black flat base.",
+    "Tap the white bell's top center with the left arm.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Locate the white bell and click its top center.",
+    "Have the left arm click at the bell shaped like half-circle dome's top center.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Click the white bell's top center using the left arm.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Press the top center of the white dome bell on table.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press the bell with black flat base's top center on the table.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Tap the top center of the white dome bell.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Press the center top of the white dome bell.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Locate the white and black colored bell and click its top center.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Press down the top of the white dome bell using the left arm.",
+    "Direct the left arm to touch the white bell's top.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Click the white dome bell's top center using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Click the bell with black flat base at its top center on table.",
+    "Click the designated center of the compact tabletop bell.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the top center of the white and black colored bell on table.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press down the white and black colored bell's top center gently.",
+    "Guide the left arm to click the bell shaped like half-circle dome's top center.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Make the left arm interact with the white bell's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the center top of the white bell with black bottom.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Locate the simple hand bell with black stand and click its top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002031.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002031.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c62839c3c94faefd25ff8ef17143f393d914c9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002031.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the smooth blue bell's top center using the right arm.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Click the blue bell's <top center> using the right arm",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Locate the compact bell with round base and click its top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Press down the blue bell's top center gently.",
+    "Push the bell with brown base's <top center> on the table",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Push the center of the blue bell using the right arm.",
+    "Press the top center of the bell with brown base on table.",
+    "Click the designated center of the round bell.",
+    "Press the center top of the bell with brown base.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press the center of the round bell using the right arm.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Tap the top center of the bell with brown base.",
+    "Click the top center of the round bell on table.",
+    "Press the specified top area of the blue bell.",
+    "Click the flat-topped bell at its top center on table.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Click the bell with brown base's <top center> using the right arm",
+    "Press down the top of the small blue and brown bell using the right arm.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Press the top center of the bell with brown base on table.",
+    "Click the designated center of the round bell.",
+    "Press the center top of the bell with brown base.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Press the center of the bell with circular body using the right arm.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the round bell.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Click the compact bell with round base at its top center on table.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Locate the blue bell and click its top center.",
+    "Tap the round bell's top center with the right arm.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Push the round bell's <top center> on the table",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Click the designated center of the blue bell.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Press the center of the round bell using the right arm.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Have the right arm click at the blue bell's top center.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press the specified top area of the blue bell.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Use the right arm to touch the round bell's top center.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Command the right arm to press the round bell's top.",
+    "Make the right arm interact with the bell with circular body's top center."
+  ],
+  "unseen": [
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002074.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002074.json
new file mode 100644
index 0000000000000000000000000000000000000000..019b2f7bba147aefec19de14bf73918eb1a6937b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002074.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the blue bell's top center with the right arm.",
+    "Push the center of the blue bell using the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Click the blue bell at its top center on table.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Have the right arm click at the round bell's top center.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Click the compact bell with round base's <top center> using the right arm",
+    "Press the specified top area of the bell with brown base.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Locate the smooth blue bell and click its top center.",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Push the bell with brown base's <top center> on the table",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press the center top of the bell with brown base.",
+    "Click the blue bell's top center using the right arm.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Tap the top center of the flat-topped bell.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Click using the right arm on the blue bell's center.",
+    "Make the right arm interact with the round bell's top center.",
+    "Press the bell with protruding knob's top center with the right arm firmly.",
+    "Use the right arm to press the flat-topped bell's top section.",
+    "Press down the flat-topped bell's top center gently.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Push the center of the round bell using the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Press the top center of the blue bell on table.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Press the round bell's top center on the table.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Press the specified top area of the bell with protruding knob.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Press the center top of the blue bell.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Press the center of the round bell using the right arm.",
+    "Tap the top center of the small blue and brown bell.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Click using the right arm on the blue bell's center.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Use the right arm to press the blue bell's top section.",
+    "Press down the compact bell with round base's top center gently.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Push the center of the blue dome-shaped bell using the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Click the designated center of the small blue and brown bell.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Have the right arm click at the smooth blue bell's top center.",
+    "Press the blue bell's top center on the table.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Direct the right arm to touch the compact bell with round base's top.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Activate the blue bell by pressing its top center.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the blue bell's top center using the right arm.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Tap the top center of the flat-topped bell.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Click the smooth blue bell at its top center on table.",
+    "Click the designated center of the metal bell with plastic parts."
+  ],
+  "unseen": [
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002161.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002161.json
new file mode 100644
index 0000000000000000000000000000000000000000..857c27da2477783a54e9e7990882869b7789a102
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002161.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click using the left arm on the white bell's center.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Activate the white bell by pressing its top center.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Press the specified top area of the white and black colored bell.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Click the white dome bell at its top center on table.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the center top of the small desk bell for tapping.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Press the white dome bell's top center on the table.",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Press down the white bell's top center gently.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Click the top center of the white and black colored bell on table.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press the specified top area of the white dome bell.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Click the white dome bell at its top center on table.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Press the center top of the small desk bell for tapping.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Use the left arm to press the small desk bell for tapping's top section.",
+    "Press the top center of the white dome bell on table.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Activate the white dome bell by pressing its top center.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Direct the left arm to touch the white bell's top.",
+    "Press the specified top area of the bell with black flat base.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Use the left arm to touch the white bell's top center.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the center top of the compact tabletop bell.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Click the white bell's <top center> using the left arm",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Press down the top of the white bell using the left arm.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Tap the rounded bell with flat black part's top center with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002186.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002186.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c896ca48f125a4d64d2516d7145670781b1870
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002186.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the blue bell's top section.",
+    "Press the specified top area of the blue bell.",
+    "Press the center top of the brown-bottomed bell.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Click the top center of the flat-topped bell on table.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Press down the bell with circular body's top center gently.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Click the designated center of the flat-topped bell.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Direct the right arm to click the top of the round bell.",
+    "Click the bell with brown base's <top center> using the right arm",
+    "Command the right arm to press the blue bell's top.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Press the center of the brown-bottomed bell using the right arm.",
+    "Tap the top center of the bell with brown base.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Press the center top of the smooth blue bell.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Click the blue bell's top center using the right arm.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press the top center of the bell with brown base on table.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Press the blue bell's top center on the table.",
+    "Pinpoint the round bell and click its top center.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Click the top center of the bell with circular body on table.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Press the round bell's top center with the right arm firmly.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Have the right arm click at the compact bell with round base's top center.",
+    "Click the designated center of the small blue and brown bell.",
+    "Tap the round bell's top center with the right arm.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Locate the blue bell and click its top center.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Press the specified top area of the blue bell.",
+    "Press the center top of the bell with circular body.",
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press the top center of the blue bell on table.",
+    "Click using the right arm on the round bell's center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Have the right arm click at the round bell's top center.",
+    "Click the designated center of the bell with protruding knob.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Locate the flat-topped bell and click its top center.",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press the center of the round bell using the right arm.",
+    "Tap the top center of the bell with circular body.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Press the specified top area of the compact bell with round base.",
+    "Press the center top of the compact bell with round base.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Click the bell with protruding knob at its top center on table."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002187.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002187.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d241f32605faca26413606536eeebde81b9d9ff
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002187.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the blue bell's top center gently.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Click the round bell's top center using the left arm.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the blue bell's top center on the table.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Tap the top center of the bell with circular body.",
+    "Click the top center of the bell with circular body on table.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Press the specified top area of the round bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Press the top center of the bell with circular body on table.",
+    "Have the left arm click at the blue bell's top center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Press down the flat-topped bell's top center gently.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Guide the left arm to click the blue bell's top center.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Tap the top center of the bell with protruding knob.",
+    "Click the top center of the compact bell with round base on table.",
+    "Use the left arm to press the small blue and brown bell's top section.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Click the designated center of the small blue and brown bell.",
+    "Click using the left arm on the blue bell's center.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Press the center top of the bell with protruding knob.",
+    "Press down the bell with circular body's top center gently.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Use the left arm to touch the compact bell with round base's top center.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Tap the top center of the bell with circular body.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Use the left arm to press the small blue and brown bell's top section.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Press the center top of the flat-topped bell.",
+    "Press down the smooth blue bell's top center gently.",
+    "Locate the bell with circular body and click its top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Click the blue bell's top center using the left arm.",
+    "Tap the round bell's top center with the left arm.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Push the round bell's <top center> on the table"
+  ],
+  "unseen": [
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002207.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002207.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a50eb30665cd05e975af787c589f4e8e8dd406
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002207.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the smooth blue bell at its top center on table.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Make the right arm interact with the blue dome-shaped bell's top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Ask the right arm to interact with the metal bell with plastic parts's top.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Command the right arm to press the blue bell's top.",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Locate the bell with brown base and click its top center.",
+    "Press the center top of the smooth blue bell.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Press down the compact bell with round base's top center gently.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Click the blue bell at its top center on table.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Press the top center of the blue bell on table.",
+    "Direct the right arm to click the top of the brown-bottomed bell.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Press the center top of the small blue and brown bell.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Tap the top center of the round bell.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Press the specified top area of the blue bell.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Have the right arm click at the compact bell with round base's top center.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Click the designated center of the smooth blue bell.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Press the top center of the compact bell with round base on table.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Use the right arm to press the brown-bottomed bell's top section.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Press the center of the blue bell using the right arm.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Press the center top of the bell with brown base.",
+    "Press the smooth blue bell's top center on the table.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Click the top center of the bell with circular body on table.",
+    "Click the blue bell's top center using the right arm.",
+    "Tap the top center of the bell with circular body.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Press the specified top area of the smooth blue bell.",
+    "Press down the bell with brown base's top center gently.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Click the designated center of the smooth blue bell.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Tap the round bell's top center with the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003082.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003082.json
new file mode 100644
index 0000000000000000000000000000000000000000..7da0cd26e0644b48499a351b359585eeb4d18d97
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003082.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the white dome bell's top center on the table.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Click the top center of the white and black colored bell on table.",
+    "Guide the right arm to click the bell with black flat base's top center.",
+    "Activate the white bell by pressing its top center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the white dome bell's top center using the right arm.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Have the right arm click at the white bell with black bottom's top center.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Press the specified top area of the white bell.",
+    "Click the white dome bell at its top center on table.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Locate the bell with black flat base and click its top center.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Press the center top of the white bell.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Click the designated center of the white dome bell.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Push the white bell's <top center> on the table",
+    "Push the center of the bell shaped like half-circle dome using the right arm.",
+    "Click using the right arm on the bell with metallic top and plastic base's center.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Click the top center of the bell with black flat base on table.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Pinpoint the white bell and click its top center.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the specified top area of the bell with black flat base.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Command the right arm to press the white bell's top.",
+    "Click the designated center of the white bell.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Use the right arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Have the right arm click at the white bell's top center.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Locate the white and black colored bell and click its top center.",
+    "Direct the right arm to click the top of the white bell.",
+    "Press the center top of the compact tabletop bell.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Use the right arm to press the white bell's top section.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Click the designated center of the bell with black flat base.",
+    "Tap the top center of the white bell with black bottom.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press down the simple hand bell with black stand's top center gently."
+  ],
+  "unseen": [
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004101.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004101.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4071ff42e6ac5986adef959be48051e78deac15
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004101.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the specified top area of the white dome bell.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Click the top center of the white bell on table.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Press down the white and black colored bell's top center gently.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Push the white dome bell's <top center> on the table",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Click the designated center of the white bell with black bottom.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press the center top of the white bell.",
+    "Locate the bell with black flat base and click its top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Tap the top center of the white dome bell.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Press the top center of the bell with black flat base on table.",
+    "Command the left arm to press the white bell's top.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Click the white bell's top center using the left arm.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Click the designated center of the bell with black flat base.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the white dome bell's top center on the table.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Press the center top of the compact tabletop bell.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Direct the left arm to click the top of the white bell.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Activate the white bell by pressing its top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Click the small desk bell for tapping's top center using the left arm."
+  ],
+  "unseen": [
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004131.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004131.json
new file mode 100644
index 0000000000000000000000000000000000000000..240e0b184b27fdf8dc599932c1057d80d2b54c36
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004131.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Press the center top of the bell with black flat base.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Tap the top center of the white dome bell.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Push the center of the white dome bell using the left arm.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Click the white bell's top center using the left arm.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Locate the white dome bell and click its top center.",
+    "Press down the white dome bell's top center gently.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the white bell's top.",
+    "Tap the top center of the white bell with black bottom.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Click the top center of the white and black colored bell on table.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Make the left arm interact with the bell with metallic top and plastic base's top center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the bell with black flat base's top center on the table.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the top center of the white dome bell on table.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Press the specified top area of the white dome bell.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the center top of the white bell.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Use the left arm to touch the white bell's top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Tap the top center of the white bell.",
+    "Guide the left arm to click the white bell's top center.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Push the center of the white bell using the left arm.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Activate the white bell by pressing its top center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Click the designated center of the white bell with black bottom.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Press the top center of the white dome bell on table.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004158.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004158.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8b74847d97e38f4406c595e4594fdeb917bfa2
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004158.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Direct the right arm to touch the white and black colored bell's top.",
+    "Press the specified top area of the white bell.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Locate the white bell and click its top center.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Click the designated center of the white dome bell.",
+    "Push the center of the rounded bell with flat black part using the right arm.",
+    "Click the top center of the white bell on table.",
+    "Ask the right arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Have the right arm click at the white bell with black bottom's top center.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Press the white bell's top center on the table.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Guide the right arm to click the white bell with black bottom's top center.",
+    "Press down the white dome bell's top center gently.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Click the designated center of the plastic and metal bell.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Click the top center of the white and black colored bell on table.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Press the center top of the plastic and metal bell.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Use the right arm to press the bell shaped like half-circle dome's top section.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Press down the white and black colored bell's top center gently.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Click the white bell's <top center> using the right arm",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Click the top center of the bell with black flat base on table.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Press the top center of the bell with black flat base on table.",
+    "Click the white bell's top center using the right arm.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Press the specified top area of the bell with black flat base.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Click using the right arm on the compact tabletop bell's center."
+  ],
+  "unseen": [
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004219.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004219.json
new file mode 100644
index 0000000000000000000000000000000000000000..acc9abd81e9895067de7afda96b00ff0822b7d98
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004219.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the round bell using the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Click the top center of the blue bell on table.",
+    "Press the top center of the bell with brown base on table.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Tap the top center of the small blue and brown bell.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Locate the round bell and click its top center.",
+    "Press the center top of the bell with brown base.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the round bell's <top center> using the right arm",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Guide the right arm to click the round bell's top center.",
+    "Press down the blue bell's top center gently.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Direct the right arm to click the top of the brown-bottomed bell.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Press the top center of the smooth blue bell on table.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Make the right arm interact with the bell with protruding knob's top center.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Tap the top center of the blue bell.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the flat-topped bell's top center on the table.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Have the right arm click at the round bell's top center.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Click the blue bell's <top center> using the right arm",
+    "Use the right arm to press the flat-topped bell's top section.",
+    "Click the round bell at its top center on table.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Click using the right arm on the round bell's center.",
+    "Press the specified top area of the compact bell with round base.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press the top center of the compact bell with round base on table.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Make the right arm interact with the round bell's top center.",
+    "Click the designated center of the bell with circular body.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Tap the top center of the compact bell with round base.",
+    "Push the blue bell's <top center> on the table",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Locate the blue bell and click its top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Have the right arm click at the round bell's top center.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Click the round bell at its top center on table.",
+    "Direct the right arm to touch the round bell's top.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Click using the right arm on the smooth blue bell's center.",
+    "Press the specified top area of the blue bell.",
+    "Click the top center of the compact bell with round base on table."
+  ],
+  "unseen": [
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005180.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005180.json
new file mode 100644
index 0000000000000000000000000000000000000000..479ca32dd9c7a0253301858f954c303a250f2a06
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005180.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the compact bell with round base by pressing its top center.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Click the top center of the smooth blue bell on table.",
+    "Tap the round bell's top center with the left arm.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Press the center of the round bell using the left arm.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Click the round bell's <top center> using the left arm",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Tap the top center of the blue bell.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Press the blue bell's top center on the table.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press down the top of the flat-topped bell using the left arm.",
+    "Press down the smooth blue bell's top center gently.",
+    "Click the designated center of the flat-topped bell.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Press the specified top area of the smooth blue bell.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press the top center of the bell with circular body on table.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Locate the bell with brown base and click its top center.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Pinpoint the round bell and click its top center.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Press down the blue bell's top center gently.",
+    "Click the designated center of the bell with protruding knob.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Press the specified top area of the bell with brown base.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Click the blue bell at its top center on table.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Click using the left arm on the blue dome-shaped bell's center.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Locate the round bell and click its top center.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Press the center top of the small blue and brown bell.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Direct the left arm to touch the round bell's top.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Make the left arm interact with the bell with brown base's top center.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press down the smooth blue bell's top center gently.",
+    "Click the designated center of the flat-topped bell.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press the top center of the bell with brown base on table.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Press the center top of the blue bell.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Click the top center of the smooth blue bell on table.",
+    "Tap the blue bell's top center with the left arm.",
+    "Direct the left arm to touch the flat-topped bell's top.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Press the center of the brown-bottomed bell using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006144.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006144.json
new file mode 100644
index 0000000000000000000000000000000000000000..632e76a7f9a57496fd7761330e899c25f358ac29
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006144.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Click using the right arm on the compact tabletop bell's center.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Click the designated center of the white bell with black bottom.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the white bell's top center on the table.",
+    "Press down the bell with black flat base's top center gently.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Push the white bell's <top center> on the table",
+    "Direct the right arm to touch the white bell's top.",
+    "Push the center of the white dome bell using the right arm.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Use the right arm to touch the compact tabletop bell's top center.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Click the bell with black flat base's <top center> using the right arm",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Press the center top of the white and black colored bell.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Make the right arm interact with the white bell's top center.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Guide the right arm to click the bell with black flat base's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Use the right arm to touch the compact tabletop bell's top center.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Press the center top of the white bell.",
+    "Tap the top center of the bell with black flat base.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Click using the right arm on the compact tabletop bell's center.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click the top center of the white bell on table.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Press down the white and black colored bell's top center gently.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Direct the right arm to touch the white bell's top.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Command the right arm to press the bell shaped like half-circle dome's top.",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Click the bell with black flat base's top center using the right arm.",
+    "Press the center top of the plastic and metal bell.",
+    "Tap the top center of the white dome bell.",
+    "Locate the white dome bell and click its top center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press the small desk bell for tapping's top center with the right arm firmly.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the designated center of the white and black colored bell.",
+    "Use the right arm to press the white bell's top section."
+  ],
+  "unseen": [
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006218.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006218.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7de97a6d02a520df31128e1070f37fb66c517f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006218.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the right arm to press the flat-topped bell's top.",
+    "Push the center of the blue bell using the right arm.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Press the round bell's top center with the right arm firmly.",
+    "Press down the round bell's top center gently.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the center of the brown-bottomed bell using the right arm.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Press the top center of the compact bell with round base on table.",
+    "Press down the top of the blue bell using the right arm.",
+    "Click the round bell's <top center> using the right arm",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center top of the bell with protruding knob.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Click the designated center of the round bell.",
+    "Locate the round bell and click its top center.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Press the blue dome-shaped bell's top center with the right arm firmly.",
+    "Press down the smooth blue bell's top center gently.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Press the center top of the bell with brown base.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Click the designated center of the blue bell.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press the top center of the compact bell with round base on table.",
+    "Press down the top of the round bell using the right arm.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Tap the blue bell's top center with the right arm.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press the specified top area of the bell with circular body.",
+    "Press the center top of the bell with protruding knob.",
+    "Activate the blue bell by pressing its top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Click the designated center of the compact bell with round base.",
+    "Locate the round bell and click its top center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Command the right arm to press the round bell's top.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Press down the small blue and brown bell's top center gently."
+  ],
+  "unseen": [
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007122.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007122.json
new file mode 100644
index 0000000000000000000000000000000000000000..7abe30a0469e36c2f75afd499a444f9692303999
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007122.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the flat-topped bell using the right arm.",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Pinpoint the round bell and click its top center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Click the bell with circular body's top center using the right arm.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Press the round bell's top center on the table.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Click the flat-topped bell at its top center on table.",
+    "Use the right arm to press the round bell's top section.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Direct the right arm to touch the blue bell's top.",
+    "Have the right arm click at the round bell's top center.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Press the center top of the flat-topped bell.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Press down the bell with circular body's top center gently.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Click the blue bell's <top center> using the right arm",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Press down the top of the blue bell using the right arm.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Push the round bell's <top center> on the table",
+    "Tap the top center of the bell with brown base.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Use the right arm to touch the blue bell's top center.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Make the right arm interact with the blue dome-shaped bell's top center.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the center top of the brown-bottomed bell.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Click the designated center of the blue bell.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Press the top center of the bell with circular body on table.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Press the specified top area of the bell with circular body.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Press the smooth blue bell's top center on the table.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Tap the top center of the bell with circular body.",
+    "Click the round bell at its top center on table.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Locate the smooth blue bell and click its top center.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Have the right arm click at the round bell's top center.",
+    "Click using the right arm on the blue bell's center.",
+    "Click the top center of the round bell on table.",
+    "Use the right arm to touch the blue bell's top center.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Press the center top of the round bell.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press down the compact bell with round base's top center gently.",
+    "Click the designated center of the blue bell.",
+    "Push the center of the blue dome-shaped bell using the right arm.",
+    "Command the right arm to press the blue bell's top.",
+    "Press the top center of the smooth blue bell on table.",
+    "Press the center of the blue bell using the right arm.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press the specified top area of the flat-topped bell.",
+    "Click the flat-topped bell's top center using the right arm."
+  ],
+  "unseen": [
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008140.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008140.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ebaf381ce877e84edd9468f1a3263ebd5ba969
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008140.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Tap the top center of the bell with protruding knob.",
+    "Press the center top of the bell with circular body.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Push the round bell's <top center> on the table",
+    "Press down the flat-topped bell's top center gently.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the top center of the round bell on table.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Click the designated center of the bell with brown base.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Have the left arm click at the smooth blue bell's top center.",
+    "Locate the flat-topped bell and click its top center.",
+    "Use the left arm to touch the bell with protruding knob's top center.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Press the blue bell's top center on the table.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Press the specified top area of the compact bell with round base.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Pinpoint the round bell and click its top center.",
+    "Push the center of the blue bell using the left arm.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Click the round bell at its top center on table.",
+    "Tap the top center of the bell with brown base.",
+    "Press the center top of the compact bell with round base.",
+    "Click the blue bell's <top center> using the left arm",
+    "Guide the left arm to click the metal bell with plastic parts's top center.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Push the bell with brown base's <top center> on the table",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Click the top center of the round bell on table.",
+    "Press down the top of the round bell using the left arm.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Click the designated center of the compact bell with round base.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Activate the round bell by pressing its top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Press the specified top area of the compact bell with round base.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Click using the left arm on the round bell's center.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Tap the top center of the bell with protruding knob.",
+    "Press the center top of the smooth blue bell.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Guide the left arm to click the blue bell's top center.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Press down the bell with circular body's top center gently.",
+    "Click the top center of the flat-topped bell on table.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Click the designated center of the flat-topped bell.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Locate the bell with brown base and click its top center.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Activate the round bell by pressing its top center.",
+    "Tap the blue bell's top center with the left arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Press the specified top area of the bell with circular body."
+  ],
+  "unseen": [
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008156.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008156.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9e6e3bbafb474ca472b730279fc2a7cbdff374
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008156.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the small blue and brown bell using the left arm.",
+    "Click the round bell's top center using the left arm.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Locate the bell with brown base and click its top center.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Click the designated center of the flat-topped bell.",
+    "Press the specified top area of the compact bell with round base.",
+    "Press the center top of the brown-bottomed bell.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Tap the top center of the round bell.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Click the top center of the bell with brown base on table.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Press the flat-topped bell's top center on the table.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Have the left arm click at the smooth blue bell's top center.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Locate the smooth blue bell and click its top center.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center top of the bell with circular body.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Tap the top center of the small blue and brown bell.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Press the top center of the round bell on table.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Click the top center of the small blue and brown bell on table.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Click the bell with circular body at its top center on table.",
+    "Press down the top of the blue bell using the left arm.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Press the round bell's top center on the table.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Click using the left arm on the bell with brown base's center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Have the left arm click at the brown-bottomed bell's top center.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Use the left arm to press the small blue and brown bell's top section.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Push the center of the small blue and brown bell using the left arm.",
+    "Click the brown-bottomed bell's top center using the left arm.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Click the designated center of the blue bell.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center top of the flat-topped bell.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Tap the top center of the bell with protruding knob.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Click the top center of the flat-topped bell on table.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press down the blue bell's top center gently.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Click using the left arm on the round bell's center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Use the left arm to press the round bell's top section.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Push the center of the round bell using the left arm.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Press the center of the blue bell using the left arm.",
+    "Locate the round bell and click its top center.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press the specified top area of the brown-bottomed bell."
+  ],
+  "unseen": [
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008224.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008224.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b4991275580735348587db97facf2fddcd1a5e1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008224.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the metal bell with plastic parts.",
+    "Click the round bell at its top center on table.",
+    "Push the blue bell's <top center> on the table",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Click the top center of the smooth blue bell on table.",
+    "Press the bell with brown base's top center on the table.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Push the center of the round bell using the left arm.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press down the top of the round bell using the left arm.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Click the bell with circular body's top center using the left arm.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Press the center top of the bell with protruding knob.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Tap the top center of the blue bell.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Direct the left arm to touch the round bell's top.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Press the top center of the blue bell on table.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Tap the round bell's top center with the left arm.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Click the top center of the flat-topped bell on table.",
+    "Press the smooth blue bell's top center on the table.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Press down the flat-topped bell's top center gently.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Click the designated center of the smooth blue bell.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Use the left arm to press the compact bell with round base's top section.",
+    "Press the center top of the bell with protruding knob.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Press the specified top area of the smooth blue bell.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Tap the top center of the smooth blue bell.",
+    "Click the bell with brown base at its top center on table.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Locate the bell with brown base and click its top center.",
+    "Have the left arm click at the bell with circular body's top center.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Click the top center of the bell with circular body on table.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Make the left arm interact with the metal bell with plastic parts's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Click the designated center of the round bell.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Click the bell with circular body's top center using the left arm.",
+    "Use the left arm to press the compact bell with round base's top section.",
+    "Press the center top of the compact bell with round base.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Press the specified top area of the compact bell with round base.",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Tap the top center of the blue bell.",
+    "Click the smooth blue bell at its top center on table.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Tap the round bell's top center with the left arm.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Direct the left arm to touch the bell with brown base's top.",
+    "Locate the compact bell with round base and click its top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center."
+  ]
+}
\ No newline at end of file