diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode0.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2da18b894c3906f55448fab58bf73769b6ff3e41
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Place the rounded-edge sauce can next to the metal kitchenpot",
+    "Set the sauce can with glossy finish near the metal kitchenpot after picking it up",
+    "Pick the sauce can with sealed top up and move it next to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top, place it by the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the gray kitchenpot",
+    "Move the cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the sauce can with sealed top, move it to the cylindrical kitchenpot's side",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can, position it near the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern, move it, and place by the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and move it near the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Grab the sauce can and move it close to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray kitchenpot",
+    "Place the hand-sized sauce can beside the gray kitchenpot after picking it up",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the gray kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish to the smooth gray kitchenpot using the left arm",
+    "Pick the cylindrical sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the cylindrical kitchenpot",
+    "Set the rounded-edge sauce can right next to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Move the hand-sized sauce can from its spot to near the dark gray stove kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the gray kitchenpot",
+    "Set the plastic lid sauce can near the dark gray stove kitchenpot after picking it up",
+    "Pick the round sauce can with yellow pattern up and move it next to the cylindrical kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to take the sauce can with glossy finish to the gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, place it by the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and set it near the metal kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Grab the sauce can, move it to the medium kitchenpot made of metal's side",
+    "Pick up the sauce can with glossy finish and put it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to the medium-sized kitchenpot with the left arm",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Place the sauce can with glossy finish beside the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top up with the left arm then place near the cylindrical kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can and position it next to the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can to the round kitchenpot with handles using the left arm",
+    "Pick the plastic lid sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the gray kitchenpot",
+    "Set the hand-sized sauce can right next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can with the left arm and move it close to the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode1.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ccc072d7ff0253a056475baa1383b4a24f756ff
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown and yellow cylindrical sauce can and move it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Move the sauce can beside the smooth gray kitchenpot after lifting it",
+    "Set the sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the medium sauce can with white lid with the left arm and set it near the gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the medium-sized kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the cylindrical sauce can and move to the metal kitchenpot",
+    "Place the plastic lid sauce can next to the cylindrical kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Set the hand-sized sauce can right next to the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the dark gray stove kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can to the metal kitchenpot using the left arm",
+    "Move the hand-sized sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can, place it by the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to be next to the kitchenpot with smooth exterior",
+    "Take the sauce can with glossy finish using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the sauce can with sealed top and place it by the metal kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the gray kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Place the sauce can beside the metal kitchenpot after picking it up",
+    "Move the white plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Lift the sauce can with sealed top and move it near the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Move the white plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Set the brown and yellow cylindrical sauce can near the smooth gray kitchenpot after picking it up",
+    "Grab the rounded-edge sauce can with the left arm and set it near the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can with the left arm and set by the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it beside the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can, move it, and place by the gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Bring the hand-sized sauce can over and set it near the gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the hand-sized sauce can and move to the gray kitchenpot",
+    "Place the plastic lid sauce can next to the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the metal kitchenpot",
+    "Set the sauce can with sealed top right next to the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can using the left arm and position it by the metal kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the round kitchenpot with handles",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the cooking kitchenpot with side grips",
+    "Use the left arm to take the white plastic lid sauce can to the metal kitchenpot",
+    "Take the medium sauce can with white lid to the medium-sized kitchenpot using the left arm",
+    "Move the sauce can with glossy finish from its spot to near the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern and move it close to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can, place it by the metal kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the metal kitchenpot",
+    "Move the rounded-edge sauce can to be next to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the medium-sized kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Place the yellow brown sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Move the brown and yellow cylindrical sauce can to the metal kitchenpot with the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode10.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b57269b306997a4871d9570dae372037db6550
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the yellow brown sauce can right next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the smooth gray kitchenpot",
+    "Set the cylindrical sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Take the sauce can with sealed top to the kitchenpot for boiling and cooking using the left arm",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the metal kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the gray kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Place the round sauce can with yellow pattern next to the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and move it near the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can to be next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the cooking kitchenpot with side grips",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the dark gray stove kitchenpot",
+    "Move the round sauce can with yellow pattern beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it next to the cooking kitchenpot with side grips",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the cylindrical kitchenpot's side",
+    "Move the sauce can from its spot to near the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Move the hand-sized sauce can to the cylindrical kitchenpot with the left arm",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray kitchenpot",
+    "Place the yellow brown sauce can beside the cylindrical kitchenpot after picking it up",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the smooth gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, then place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and move it beside the round kitchenpot with handles",
+    "Set the yellow brown sauce can near the round kitchenpot with handles after picking it up",
+    "Take the rounded-edge sauce can to the medium kitchenpot made of metal using the left arm",
+    "Grab the sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Bring the white plastic lid sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the plastic lid sauce can, position it near the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top next to the kitchenpot for boiling and cooking",
+    "Pick the medium sauce can with white lid up and carefully position it beside the medium-sized kitchenpot",
+    "Lift the sauce can and move it near the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it, and place by the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to be next to the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid using the left arm and position it by the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can and move it close to the gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cooking kitchenpot with side grips",
+    "Use the left arm to take the sauce can with glossy finish to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Pick the sauce can and position it next to the gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it to the medium-sized kitchenpot's side",
+    "Move the cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Place the sauce can with sealed top beside the medium kitchenpot made of metal after picking it up",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the smooth gray kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode11.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4de40576228f2d5893b15750f98adca33d0716
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and move it near the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top and move it close to the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, then place it next to the round kitchenpot with handles",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the medium-sized kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish beside the metal kitchenpot after lifting it",
+    "Set the rounded-edge sauce can right next to the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the smooth gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can to be next to the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and place it next to the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Place the sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to take the cylindrical sauce can to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the gray kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the gray kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Set the yellow brown sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the gray kitchenpot",
+    "Move the medium sauce can with white lid to the cooking kitchenpot with side grips with the left arm",
+    "Pick the hand-sized sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Bring the sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to move the cylindrical sauce can beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top to the medium kitchenpot made of metal using the left arm",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can, place it by the kitchenpot for boiling and cooking",
+    "Pick the medium sauce can with white lid up and move it next to the gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can and move it close to the medium-sized kitchenpot",
+    "Pick up the sauce can and put it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish, then place it next to the smooth gray kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern next to the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Move the sauce can beside the medium-sized kitchenpot after lifting it",
+    "Set the rounded-edge sauce can right next to the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can, position it near the smooth gray kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the medium kitchenpot made of metal",
+    "Take the sauce can with glossy finish with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the metal kitchenpot's side",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Move the sauce can with glossy finish to be next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the medium-sized kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "With the left arm, grab the medium sauce can with white lid and move to the medium kitchenpot made of metal",
+    "Set the sauce can with glossy finish near the medium-sized kitchenpot after picking it up",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Pick the rounded-edge sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Bring the cylindrical sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the gray kitchenpot",
+    "Take the hand-sized sauce can to the smooth gray kitchenpot using the left arm",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up and move it next to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode12.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ad5a035e6a9f9980bdf54892cea7ed0663a5c1
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Place the sauce can with glossy finish beside the smooth gray kitchenpot after picking it up",
+    "Lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and set it beside the cooking kitchenpot with side grips",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the round kitchenpot with handles",
+    "Move the white plastic lid sauce can to the medium-sized kitchenpot with the left arm",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top using the left arm, set it next to the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it to the metal kitchenpot's side",
+    "Move the cylindrical sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can, place it by the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the metal kitchenpot",
+    "Set the hand-sized sauce can right next to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the white plastic lid sauce can, then place it next to the round kitchenpot with handles",
+    "Pick up the sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Take the yellow brown sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can near the dark gray stove kitchenpot after picking it up",
+    "Pick the plastic lid sauce can up and move it next to the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the medium-sized kitchenpot",
+    "Place the plastic lid sauce can next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the dark gray stove kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the smooth gray kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the kitchenpot for boiling and cooking",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish beside the dark gray stove kitchenpot after picking it up",
+    "Lift the cylindrical sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Bring the sauce can with sealed top over and set it near the round kitchenpot with handles",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Move the sauce can with glossy finish from its spot to near the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the gray kitchenpot",
+    "Set the plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the sauce can with glossy finish, then place it next to the metal kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can to the medium kitchenpot made of metal using the left arm",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the gray kitchenpot",
+    "Set the sauce can with glossy finish near the kitchenpot with smooth exterior after picking it up",
+    "Pick the sauce can with glossy finish up and move it next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the dark gray stove kitchenpot",
+    "Place the white plastic lid sauce can next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot for boiling and cooking",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid using the left arm and position it by the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can to be next to the metal kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it next to the cylindrical kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the metal kitchenpot",
+    "Take the sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode13.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..23755145c8c818d4f75624576638b9db10eb4ac9
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to move the round sauce can with yellow pattern beside the metal kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can, place it by the medium-sized kitchenpot",
+    "Take the sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid, move it to the dark gray stove kitchenpot's side",
+    "Lift the plastic lid sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and set it next to the metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Set the plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Take the rounded-edge sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Place the round sauce can with yellow pattern beside the medium kitchenpot made of metal after picking it up",
+    "Grab the cylindrical sauce can, move it, and place by the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the gray kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the metal kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the gray kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid to the gray kitchenpot with the left arm",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the round kitchenpot with handles",
+    "Place the yellow brown sauce can next to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the round kitchenpot with handles",
+    "Set the brown and yellow cylindrical sauce can near the gray kitchenpot after picking it up",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the smooth gray kitchenpot",
+    "Bring the sauce can over and set it near the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the dark gray stove kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can and put it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the round kitchenpot with handles",
+    "Take the hand-sized sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it to the gray cylindrical metal kitchenpot's side",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the medium-sized kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Move the medium sauce can with white lid from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cylindrical kitchenpot",
+    "Set the hand-sized sauce can right next to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the smooth gray kitchenpot",
+    "Take the hand-sized sauce can to the smooth gray kitchenpot using the left arm",
+    "Place the sauce can beside the medium-sized kitchenpot after picking it up",
+    "Grab the sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can, then place it next to the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and set it near the metal kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can to the medium-sized kitchenpot with the left arm",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the dark gray stove kitchenpot",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the kitchenpot for boiling and cooking after picking it up",
+    "With the left arm, grab the sauce can and move to the gray cylindrical metal kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to be next to the metal kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode14.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..4385baf1c61ecac36a2f308cde5577ddbe34f97d
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the medium sauce can with white lid over and set it near the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium-sized kitchenpot with the left arm",
+    "Move the yellow brown sauce can to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the gray kitchenpot",
+    "Set the medium sauce can with white lid right next to the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Place the round sauce can with yellow pattern beside the gray cylindrical metal kitchenpot after picking it up",
+    "Grab the sauce can with glossy finish, move it to the metal kitchenpot's side",
+    "Set the white plastic lid sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick the yellow brown sauce can up with the left arm then place near the round kitchenpot with handles",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Use the left arm to move the hand-sized sauce can beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, place it by the metal kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Place the medium sauce can with white lid next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the smooth gray kitchenpot",
+    "Lift the sauce can and set it beside the gray kitchenpot",
+    "Take the hand-sized sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the gray kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the round kitchenpot with handles",
+    "Move the yellow brown sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Pick up the rounded-edge sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot with smooth exterior",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the smooth gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the medium-sized kitchenpot",
+    "Move the plastic lid sauce can to the gray kitchenpot with the left arm",
+    "Move the brown and yellow cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the cylindrical kitchenpot",
+    "Set the white plastic lid sauce can right next to the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and move it near the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the gray kitchenpot",
+    "Place the yellow brown sauce can beside the gray kitchenpot after picking it up",
+    "Grab the plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Set the rounded-edge sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "With the left arm, grab the sauce can and move to the metal kitchenpot",
+    "Grab the sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Grab the sauce can, move it, and place by the gray kitchenpot",
+    "Lift the sauce can and set it next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can, place it by the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the medium-sized kitchenpot",
+    "Place the yellow brown sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can to the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the medium kitchenpot made of metal",
+    "Take the sauce can to the medium kitchenpot made of metal using the left arm",
+    "Grab the hand-sized sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Pick up the rounded-edge sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode15.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..60801a2241667d35b8de0bf4fea08ee87d9cbe8c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Move the sauce can with sealed top to the round kitchenpot with handles with the left arm",
+    "Lift the brown and yellow cylindrical sauce can and move it near the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern next to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Set the white plastic lid sauce can right next to the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the dark gray stove kitchenpot after picking it up",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and set it next to the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the medium-sized kitchenpot using the left arm",
+    "Move the medium sauce can with white lid from its spot to near the metal kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can and position it next to the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the metal kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the cylindrical kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid beside the gray kitchenpot after picking it up",
+    "Move the rounded-edge sauce can to be next to the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish beside the medium-sized kitchenpot after lifting it",
+    "Pick the yellow brown sauce can up and move it next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can and move it close to the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the cylindrical sauce can beside the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Lift the brown and yellow cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can next to the gray kitchenpot",
+    "Using the left arm, lift the sauce can with sealed top and place it by the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Pick up the rounded-edge sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can right next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cylindrical kitchenpot",
+    "Set the medium sauce can with white lid near the cylindrical kitchenpot after picking it up",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the metal kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Bring the plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid to the smooth gray kitchenpot using the left arm",
+    "Move the sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the kitchenpot for boiling and cooking",
+    "Take the yellow brown sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can and position it next to the metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to lift the cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to take the hand-sized sauce can to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the yellow brown sauce can and move to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with glossy finish beside the medium kitchenpot made of metal after picking it up",
+    "Move the cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode16.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b3e3029f8a15412812296d18e47c60c3d18b30
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to move the white plastic lid sauce can beside the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can and put it beside the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it near the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to take the rounded-edge sauce can to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the cylindrical kitchenpot",
+    "Place the cylindrical sauce can next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the round kitchenpot with handles",
+    "Move the plastic lid sauce can beside the metal kitchenpot after lifting it",
+    "Lift the sauce can with sealed top, then place it next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can to the dark gray stove kitchenpot using the left arm",
+    "Set the sauce can with sealed top right next to the round kitchenpot with handles",
+    "Place the medium sauce can with white lid beside the medium kitchenpot made of metal after picking it up",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the metal kitchenpot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the gray kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "Bring the round sauce can with yellow pattern over and set it near the metal kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and move it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can near the metal kitchenpot after picking it up",
+    "Use the left arm to move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the gray kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the gray kitchenpot",
+    "Move the round sauce can with yellow pattern to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to take the hand-sized sauce can to the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the gray kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and move it next to the metal kitchenpot",
+    "Place the rounded-edge sauce can next to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the sauce can with glossy finish, then place it next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Set the sauce can with sealed top right next to the medium kitchenpot made of metal",
+    "Place the plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Pick the rounded-edge sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot with smooth exterior",
+    "Take the sauce can using the left arm, set it next to the gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it, and place by the dark gray stove kitchenpot",
+    "Move the medium sauce can with white lid to be next to the gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can, place it by the gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Set the plastic lid sauce can near the medium kitchenpot made of metal after picking it up"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode17.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e79731c458b245d5c939d143d25c6eb41f76eb
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hand-sized sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish to be next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the gray kitchenpot",
+    "Place the plastic lid sauce can next to the gray cylindrical metal kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the metal kitchenpot",
+    "Take the medium sauce can with white lid to the kitchenpot for boiling and cooking using the left arm",
+    "Using the left arm, lift the sauce can with sealed top and place it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can and move it close to the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Place the yellow brown sauce can beside the smooth gray kitchenpot after picking it up",
+    "Bring the medium sauce can with white lid over and set it near the metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and position it by the gray kitchenpot",
+    "Set the yellow brown sauce can right next to the gray cylindrical metal kitchenpot",
+    "Set the plastic lid sauce can near the round kitchenpot with handles after picking it up",
+    "Lift the medium sauce can with white lid and place it next to the metal kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the cylindrical kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and set it beside the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and set it near the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up with the left arm then place near the metal kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the round kitchenpot with handles",
+    "Grab the plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "With the left arm, grab the cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the metal kitchenpot",
+    "Move the sauce can to the smooth gray kitchenpot with the left arm",
+    "Pick the cylindrical sauce can up and move it next to the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Move the sauce can beside the medium-sized kitchenpot after lifting it",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Move the sauce can to be next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the dark gray stove kitchenpot",
+    "Place the rounded-edge sauce can next to the smooth gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can to the gray kitchenpot using the left arm",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the smooth gray kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the round kitchenpot with handles",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Place the sauce can with glossy finish beside the medium-sized kitchenpot after picking it up",
+    "Bring the yellow brown sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the smooth gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Set the white plastic lid sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the smooth gray kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and set it near the gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick the sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to take the white plastic lid sauce can to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the metal kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the metal kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the round kitchenpot with handles",
+    "Grab the sauce can with sealed top, move it to the dark gray stove kitchenpot's side",
+    "With the left arm, grab the plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Move the plastic lid sauce can beside the medium-sized kitchenpot after lifting it"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode18.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6c27d402d1405ac912f467bc1ad2b973fee350
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical sauce can, then place it next to the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Bring the plastic lid sauce can over and set it near the metal kitchenpot",
+    "Place the white plastic lid sauce can beside the smooth gray kitchenpot after picking it up",
+    "Take the white plastic lid sauce can to the gray kitchenpot using the left arm",
+    "Take the cylindrical sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and set it beside the gray cylindrical metal kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick up the sauce can with glossy finish and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern and move it close to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the gray kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can, position it near the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick the plastic lid sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern from its spot to near the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to take the cylindrical sauce can to the metal kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Place the hand-sized sauce can next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the gray kitchenpot",
+    "Move the rounded-edge sauce can to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to move the sauce can with glossy finish beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the medium kitchenpot made of metal",
+    "Set the brown and yellow cylindrical sauce can right next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and set it next to the gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Place the round sauce can with yellow pattern beside the gray kitchenpot after picking it up",
+    "Take the cylindrical sauce can to the round kitchenpot with handles using the left arm",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it beside the dark gray stove kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick up the white plastic lid sauce can and put it beside the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid and move it close to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish to be next to the round kitchenpot with handles",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Set the hand-sized sauce can near the dark gray stove kitchenpot after picking it up",
+    "Pick the sauce can with sealed top up with the left arm then place near the round kitchenpot with handles",
+    "Pick the hand-sized sauce can and position it next to the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish beside the medium kitchenpot made of metal after lifting it",
+    "Grab the white plastic lid sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern from its spot to near the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the round kitchenpot with handles",
+    "With the left arm, grab the yellow brown sauce can and move to the metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the metal kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the cylindrical kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Place the sauce can with glossy finish next to the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the gray kitchenpot",
+    "Move the plastic lid sauce can to the medium-sized kitchenpot with the left arm",
+    "Use the left arm to move the white plastic lid sauce can beside the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray kitchenpot",
+    "Set the yellow brown sauce can right next to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode19.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..63170347a076a50f3c4ff5bd31ae6f0ca95a038c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the sauce can with sealed top and set it beside the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Move the yellow brown sauce can from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Lift the sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Pick up the medium sauce can with white lid and put it beside the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to take the cylindrical sauce can to the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can to the medium kitchenpot made of metal using the left arm",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the round kitchenpot with handles",
+    "Using the left arm, lift the hand-sized sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the hand-sized sauce can, position it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and move it close to the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish beside the gray cylindrical metal kitchenpot after lifting it",
+    "Set the yellow brown sauce can right next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the round kitchenpot with handles",
+    "Use the left arm to move the cylindrical sauce can beside the medium-sized kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can and move it close to the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can and position it next to the cylindrical kitchenpot",
+    "Place the sauce can with glossy finish beside the medium-sized kitchenpot after picking it up",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Bring the round sauce can with yellow pattern over and set it near the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Set the medium sauce can with white lid near the round kitchenpot with handles after picking it up",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can to be next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and move it near the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it beside the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Move the yellow brown sauce can to the medium-sized kitchenpot with the left arm",
+    "Move the hand-sized sauce can from its spot to near the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and place it next to the medium-sized kitchenpot",
+    "Take the sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to take the sauce can with sealed top to the metal kitchenpot",
+    "Take the sauce can with sealed top to the kitchenpot with smooth exterior using the left arm",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top, shift it, and place it close to the smooth gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick the medium sauce can with white lid up and move it next to the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the dark gray stove kitchenpot",
+    "Move the yellow brown sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Set the brown and yellow cylindrical sauce can right next to the cylindrical kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the cylindrical kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Place the hand-sized sauce can next to the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid with the left arm and set it near the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the dark gray stove kitchenpot",
+    "Place the plastic lid sauce can beside the round kitchenpot with handles after picking it up",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish, then place it next to the medium kitchenpot made of metal",
+    "Bring the medium sauce can with white lid over and set it near the metal kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the dark gray stove kitchenpot",
+    "Set the yellow brown sauce can near the dark gray stove kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and set it next to the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern to be next to the cooking kitchenpot with side grips",
+    "Pick the sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and move it near the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode2.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e440108eb0aa5d3fea43bd304f98d552e6ce65d
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Move the medium sauce can with white lid from its spot to near the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and set it beside the round kitchenpot with handles",
+    "Move the plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can and place it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and move it near the gray kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to take the rounded-edge sauce can to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can up and set it beside the gray kitchenpot",
+    "Grab the sauce can with sealed top, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to move the hand-sized sauce can beside the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can with sealed top and place it by the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the round kitchenpot with handles",
+    "Move the rounded-edge sauce can to the smooth gray kitchenpot with the left arm",
+    "Place the yellow brown sauce can next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Set the sauce can near the gray kitchenpot after picking it up",
+    "Pick up the round sauce can with yellow pattern and put it beside the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can to the round kitchenpot with handles using the left arm",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can with the left arm, place it near the gray kitchenpot",
+    "Move the round sauce can with yellow pattern beside the gray kitchenpot after lifting it",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can right next to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Place the sauce can with glossy finish beside the metal kitchenpot after picking it up",
+    "Move the cylindrical sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it near the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid, move it to the round kitchenpot with handles's side",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the dark gray stove kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the cylindrical kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Place the sauce can with sealed top next to the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick up the sauce can with sealed top and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the cylindrical sauce can, position it near the metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Take the round sauce can with yellow pattern to the cylindrical kitchenpot using the left arm",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can with the left arm and set by the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Move the yellow brown sauce can beside the gray kitchenpot after lifting it",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Set the rounded-edge sauce can right next to the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Take the hand-sized sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top up and carefully position it beside the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode20.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb02e365ad7a905a488a03f1c9abeb783df05d3a
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow brown sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the gray kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the metal kitchenpot",
+    "Place the rounded-edge sauce can next to the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Set the plastic lid sauce can right next to the metal kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern from its spot to near the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top beside the round kitchenpot with handles after lifting it",
+    "Grab the plastic lid sauce can, move it to the gray kitchenpot's side",
+    "Lift the rounded-edge sauce can and move it near the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray kitchenpot",
+    "Move the yellow brown sauce can to be next to the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Place the plastic lid sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the metal kitchenpot",
+    "Set the sauce can near the smooth gray kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern and set it next to the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it beside the round kitchenpot with handles",
+    "Use the left arm to move the sauce can beside the medium kitchenpot made of metal",
+    "Use the left arm to take the medium sauce can with white lid to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid and put it beside the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to the medium kitchenpot made of metal with the left arm",
+    "Take the sauce can with glossy finish to the cylindrical kitchenpot using the left arm",
+    "Bring the hand-sized sauce can over and set it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Place the plastic lid sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern and move it close to the round kitchenpot with handles",
+    "Move the hand-sized sauce can from its spot to near the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the round kitchenpot with handles",
+    "Lift the sauce can, place it by the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top beside the gray cylindrical metal kitchenpot after lifting it",
+    "Grab the cylindrical sauce can, move it to the smooth gray kitchenpot's side",
+    "Lift the brown and yellow cylindrical sauce can and move it near the gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern up and move it next to the round kitchenpot with handles",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the white plastic lid sauce can and move to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it, and place by the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Place the sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Lift the sauce can, then place it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can with sealed top beside the dark gray stove kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and position it by the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can to the gray kitchenpot with the left arm",
+    "Take the rounded-edge sauce can to the metal kitchenpot using the left arm",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode21.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec6f26fb280e6eff2781738c56b6e4f1cf13920
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to move the plastic lid sauce can beside the gray kitchenpot",
+    "Place the sauce can beside the smooth gray kitchenpot after picking it up",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and position it by the metal kitchenpot",
+    "Move the yellow brown sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can to the medium kitchenpot made of metal with the left arm",
+    "Move the hand-sized sauce can to be next to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Set the sauce can with sealed top right next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish and move it close to the cylindrical kitchenpot",
+    "Set the white plastic lid sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the dark gray stove kitchenpot",
+    "Take the sauce can to the round kitchenpot with handles using the left arm",
+    "Grab the sauce can with glossy finish with the left arm and set it near the gray kitchenpot",
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Bring the rounded-edge sauce can over and set it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and move it near the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can and move to the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Take the sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Place the sauce can with glossy finish next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to move the sauce can beside the gray cylindrical metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, then place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Move the rounded-edge sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Move the sauce can with sealed top to be next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the gray kitchenpot",
+    "Set the sauce can with sealed top right next to the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid and move it close to the cooking kitchenpot with side grips",
+    "Set the sauce can near the metal kitchenpot after picking it up",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the cylindrical kitchenpot using the left arm",
+    "Grab the plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the cylindrical kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "With the left arm, grab the hand-sized sauce can and move to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid using the left arm, set it next to the medium-sized kitchenpot",
+    "Place the sauce can with glossy finish next to the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it to the gray kitchenpot's side"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode22.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..992e4ae2b5cb0a11627265d7c8d4823492606b2a
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the white plastic lid sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, move it to the dark gray stove kitchenpot's side",
+    "With the left arm, grab the sauce can with sealed top and move to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the medium-sized kitchenpot",
+    "Pick up the sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the dark gray stove kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and move it near the gray kitchenpot",
+    "Move the sauce can with sealed top beside the dark gray stove kitchenpot after lifting it",
+    "Grab the hand-sized sauce can with the left arm and position it beside the metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the cooking kitchenpot with side grips",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot with smooth exterior",
+    "Bring the yellow brown sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Grab the sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can right next to the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the dark gray stove kitchenpot",
+    "Place the yellow brown sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Pick the cylindrical sauce can and position it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Take the round sauce can with yellow pattern to the dark gray stove kitchenpot using the left arm",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the gray kitchenpot",
+    "Place the sauce can with glossy finish next to the metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the dark gray stove kitchenpot",
+    "Move the sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Set the sauce can with sealed top near the metal kitchenpot after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Pick up the sauce can and put it beside the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the gray kitchenpot's side",
+    "With the left arm, grab the sauce can and move to the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Move the medium sauce can with white lid from its spot to near the metal kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the metal kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the cylindrical kitchenpot",
+    "Move the cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Grab the sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it beside the cooking kitchenpot with side grips",
+    "Bring the white plastic lid sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it next to the gray kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Set the sauce can right next to the smooth gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the gray kitchenpot",
+    "Lift the sauce can, place it by the medium-sized kitchenpot",
+    "Place the round sauce can with yellow pattern beside the medium-sized kitchenpot after picking it up",
+    "Pick the sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot for boiling and cooking",
+    "Move the sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid to the medium kitchenpot made of metal using the left arm",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Place the round sauce can with yellow pattern next to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to be next to the metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode23.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..a212ec8ae9b3c9d308ca363cd0ccfefd296844ae
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the rounded-edge sauce can up with the left arm then place near the metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can to be next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the plastic lid sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Set the sauce can with sealed top right next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the medium sauce can with white lid beside the kitchenpot with smooth exterior",
+    "Place the sauce can with glossy finish beside the gray cylindrical metal kitchenpot after picking it up",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with sealed top and place it near the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Move the cylindrical sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the round kitchenpot with handles",
+    "Bring the plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Move the yellow brown sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the medium sauce can with white lid and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can, place it by the metal kitchenpot",
+    "Set the plastic lid sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and move it near the gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick the sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can, position it near the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish using the left arm and position it by the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the gray kitchenpot",
+    "Pick the rounded-edge sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern from its spot to near the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Take the sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Take the medium sauce can with white lid with the left arm, place it near the round kitchenpot with handles",
+    "Take the sauce can with glossy finish to the medium kitchenpot made of metal using the left arm",
+    "Lift the white plastic lid sauce can and set it next to the gray kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the cooking kitchenpot with side grips",
+    "Place the round sauce can with yellow pattern beside the smooth gray kitchenpot after picking it up",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the hand-sized sauce can and place it near the medium-sized kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can, move it, and place by the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the cylindrical kitchenpot's side",
+    "Move the cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the kitchenpot with smooth exterior",
+    "Bring the white plastic lid sauce can over and set it near the smooth gray kitchenpot",
+    "Move the hand-sized sauce can to the dark gray stove kitchenpot with the left arm",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the sauce can and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the medium-sized kitchenpot",
+    "Set the yellow brown sauce can near the round kitchenpot with handles after picking it up",
+    "Grab the sauce can with glossy finish and move it close to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid and move it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Place the sauce can with sealed top next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, then place it next to the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode24.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec14734e4141980f2e49e61fe60b6f41b431cfa6
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hand-sized sauce can and set it beside the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the gray kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the gray kitchenpot",
+    "Take the sauce can using the left arm, set it next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the gray kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can to the medium-sized kitchenpot with the left arm",
+    "Move the sauce can with sealed top to be next to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the plastic lid sauce can beside the dark gray stove kitchenpot",
+    "Place the cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the smooth gray kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Place the yellow brown sauce can next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can up and move it next to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can and move it close to the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can to the metal kitchenpot using the left arm",
+    "Lift the sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to take the cylindrical sauce can to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the cylindrical sauce can and place it by the medium-sized kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Set the cylindrical sauce can near the dark gray stove kitchenpot after picking it up",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can, move it to the dark gray stove kitchenpot's side",
+    "Move the hand-sized sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the gray kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the cooking kitchenpot with side grips",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Set the cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish with the left arm and set by the gray kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the gray cylindrical metal kitchenpot",
+    "Move the sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can, move it, and place by the medium-sized kitchenpot",
+    "Pick up the sauce can and put it beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the metal kitchenpot",
+    "Move the sauce can with sealed top to the medium kitchenpot made of metal with the left arm",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and carefully position it beside the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Place the medium sauce can with white lid beside the gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the smooth gray kitchenpot",
+    "Place the yellow brown sauce can next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, place it by the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid and move it close to the cylindrical kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Take the plastic lid sauce can to the round kitchenpot with handles using the left arm",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the cylindrical kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the cylindrical kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can and move it near the metal kitchenpot",
+    "Set the yellow brown sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can, move it to the medium-sized kitchenpot's side",
+    "Move the sauce can with glossy finish beside the kitchenpot with smooth exterior after lifting it"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/scene_info.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b35f6a41df74c9c1b4daabf304cc7f5767dd036a
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/scene_info.json
@@ -0,0 +1,14552 @@
+{
+    "episode_0": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
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+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/seed.txt b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dbdeb28fdaabb067d2ddf80cb45f53b788d474bf
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_0/seed.txt
@@ -0,0 +1 @@
+650404435 56737087 1196482389 919803649 2019791548 248321110 2088552166 1583904086 606555112 1906520303 1674595943 604925536 3819131 1515678028 764948778 1516068867 689463288 1817011700 1840639194 2072751354 732200050 1193681135 1127961193 1667685435 1128274570 2011635118 1425778526 1348359305 951239152 1862207874 1546622655 312327330 1314996264 762855587 1305579343 304360389 768233628 1838931149 14492010 1645519127 379595953 1377102319 1861812497 1267786539 1907130116 1683153964 1123083596 861966339 375016281 953892891 
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode0.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..908dd8f44426bd0cd222d4083ea10b71817d4132
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Pick up the plastic lid sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with handles",
+    "Grab the sauce can with sealed top, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid from its spot to near the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can, place it by the gray kitchenpot",
+    "Set the medium sauce can with white lid near the gray cylindrical metal kitchenpot after picking it up",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Move the yellow brown sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray kitchenpot using the left arm",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Lift the cylindrical sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the cooking kitchenpot with side grips",
+    "Place the round sauce can with yellow pattern beside the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and move it next to the dark gray stove kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Place the yellow brown sauce can next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can and place it near the gray kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can using the left arm, set it next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the medium-sized kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to grab the sauce can and move it beside the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, place it by the metal kitchenpot",
+    "Set the white plastic lid sauce can near the cooking kitchenpot with side grips after picking it up",
+    "With the left arm, grab the white plastic lid sauce can and move to the gray kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top, then place it next to the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can to the metal kitchenpot using the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern to the cylindrical kitchenpot with the left arm",
+    "Lift the round sauce can with yellow pattern and move it near the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Place the hand-sized sauce can beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the medium kitchenpot made of metal",
+    "Pick up the rounded-edge sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can and position it next to the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can and move it close to the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the metal kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the metal kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Take the sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode1.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ab37e72cb43f80ff84081c09c9e5501f66950c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the smooth gray kitchenpot",
+    "Move the yellow brown sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the dark gray stove kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray kitchenpot",
+    "Pick up the sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can and put it beside the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can from its spot to near the gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Move the cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Lift the medium sauce can with white lid and set it beside the round kitchenpot with handles",
+    "Place the cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Grab the hand-sized sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Place the yellow brown sauce can next to the smooth gray kitchenpot",
+    "Move the plastic lid sauce can to be next to the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and move it near the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to take the sauce can to the round kitchenpot with handles",
+    "Set the brown and yellow cylindrical sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round kitchenpot with handles",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish and position it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium-sized kitchenpot",
+    "Set the sauce can with sealed top near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish to the gray kitchenpot with the left arm",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can, place it by the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top, move it to the cylindrical kitchenpot's side",
+    "Take the sauce can with sealed top using the left arm, set it next to the metal kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the cylindrical kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the gray kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Take the cylindrical sauce can to the medium kitchenpot made of metal using the left arm",
+    "Move the sauce can with glossy finish beside the gray kitchenpot after lifting it",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the medium kitchenpot made of metal",
+    "Place the sauce can with glossy finish beside the kitchenpot for boiling and cooking after picking it up",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Grab the sauce can, move it, and place by the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Place the yellow brown sauce can next to the gray kitchenpot",
+    "Move the hand-sized sauce can to be next to the smooth gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick the sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can and move it close to the round kitchenpot with handles",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot with smooth exterior",
+    "Set the round sauce can with yellow pattern right next to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot with smooth exterior",
+    "With the left arm, grab the yellow brown sauce can and move to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the cooking kitchenpot with side grips",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can and position it next to the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode10.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..3581dcc967a75e301ef4f5fd74c56dfa8146136e
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can and set it next to the cooking kitchenpot with side grips",
+    "Place the hand-sized sauce can next to the cooking kitchenpot with side grips",
+    "Pick the sauce can and position it next to the kitchenpot with smooth exterior",
+    "Set the white plastic lid sauce can near the smooth gray kitchenpot after picking it up",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, move it, and place by the metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid to the gray kitchenpot with the left arm",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the kitchenpot with smooth exterior",
+    "Move the hand-sized sauce can to be next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the metal kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it beside the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the smooth gray kitchenpot",
+    "Set the plastic lid sauce can right next to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium-sized kitchenpot's side",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the round kitchenpot with handles",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Place the hand-sized sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top beside the dark gray stove kitchenpot after lifting it",
+    "Take the cylindrical sauce can to the medium-sized kitchenpot using the left arm",
+    "Pick up the cylindrical sauce can and put it beside the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the cylindrical sauce can to the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and position it by the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Place the yellow brown sauce can next to the cooking kitchenpot with side grips",
+    "Pick the sauce can with glossy finish and position it next to the metal kitchenpot",
+    "Set the sauce can with glossy finish near the round kitchenpot with handles after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it, and place by the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the round kitchenpot with handles",
+    "Move the white plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Bring the sauce can with glossy finish over and set it near the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the gray kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the metal kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Lift the sauce can and move it near the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern, then place it next to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the smooth gray kitchenpot",
+    "Set the cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the smooth gray kitchenpot's side",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with sealed top, position it near the medium-sized kitchenpot",
+    "Take the sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Place the round sauce can with yellow pattern beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Move the sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Take the rounded-edge sauce can to the metal kitchenpot using the left arm",
+    "Pick up the hand-sized sauce can and put it beside the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the sauce can with glossy finish to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode11.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6878546b4df3d6f62d9bb5a11abf15803a5e0c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can and set it next to the round kitchenpot with handles",
+    "Move the cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Pick up the sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Set the yellow brown sauce can near the gray kitchenpot after picking it up",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the smooth gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the medium kitchenpot made of metal",
+    "Lift the sauce can and set it beside the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the smooth gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Lift the cylindrical sauce can and move it near the cylindrical kitchenpot",
+    "Take the sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Set the rounded-edge sauce can right next to the cooking kitchenpot with side grips",
+    "Bring the yellow brown sauce can over and set it near the smooth gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid, move it, and place by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Lift the hand-sized sauce can, then place it next to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Place the round sauce can with yellow pattern beside the medium kitchenpot made of metal after picking it up",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can to be next to the metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the metal kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Pick the sauce can with sealed top and position it next to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the yellow brown sauce can and place it by the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it near the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the metal kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can beside the smooth gray kitchenpot after lifting it",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Set the rounded-edge sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the metal kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Take the medium sauce can with white lid with the left arm, place it near the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Lift the plastic lid sauce can and move it near the cylindrical kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the gray kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can right next to the medium kitchenpot made of metal",
+    "Bring the sauce can over and set it near the cylindrical kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the dark gray stove kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the metal kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the smooth gray kitchenpot using the left arm",
+    "Lift the cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Grab the yellow brown sauce can, move it to the gray kitchenpot's side",
+    "Place the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Pick the hand-sized sauce can up and carefully position it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Place the sauce can with glossy finish next to the kitchenpot with smooth exterior",
+    "Grab the sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up with the left arm then place near the metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode12.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..3af7a72dd33c185800ac809100e224184fced973
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hand-sized sauce can and position it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the medium-sized kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and move it near the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Move the sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can and put it beside the metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot for boiling and cooking",
+    "Move the sauce can from its spot to near the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Set the cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Set the round sauce can with yellow pattern near the medium kitchenpot made of metal after picking it up",
+    "Place the plastic lid sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Lift the sauce can with sealed top and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the cooking kitchenpot with side grips",
+    "Place the white plastic lid sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the cylindrical sauce can and move to the medium kitchenpot made of metal",
+    "Take the sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Bring the hand-sized sauce can over and set it near the metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the sauce can and place it by the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, move it to the medium-sized kitchenpot's side",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the smooth gray kitchenpot",
+    "Move the cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the metal kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the medium-sized kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern, place it by the metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid to be next to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid right next to the cylindrical kitchenpot",
+    "Set the rounded-edge sauce can near the dark gray stove kitchenpot after picking it up",
+    "Place the rounded-edge sauce can beside the medium-sized kitchenpot after picking it up",
+    "Lift the sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to the cooking kitchenpot with side grips with the left arm",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the round kitchenpot with handles",
+    "Take the hand-sized sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can to the gray kitchenpot using the left arm",
+    "Bring the sauce can with sealed top over and set it near the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can, move it to the round kitchenpot with handles's side",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up and move it next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode13.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f1700eacd2e2c5491c5380ddecff86ca9fd6065
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the yellow brown sauce can next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Move the yellow brown sauce can to the gray kitchenpot with the left arm",
+    "Grab the hand-sized sauce can, move it to the smooth gray kitchenpot's side",
+    "Pick the plastic lid sauce can and position it next to the cylindrical kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the smooth gray kitchenpot",
+    "Set the white plastic lid sauce can near the metal kitchenpot after picking it up",
+    "Place the sauce can with sealed top beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to move the sauce can with glossy finish beside the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the dark gray stove kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can to the smooth gray kitchenpot using the left arm",
+    "Pick up the sauce can and put it beside the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the metal kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can to be next to the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can and move it close to the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray cylindrical metal kitchenpot",
+    "Move the round sauce can with yellow pattern beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to take the cylindrical sauce can to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and move it near the cylindrical kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the metal kitchenpot",
+    "Place the sauce can with sealed top next to the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can and place it next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern to the round kitchenpot with handles with the left arm",
+    "Grab the white plastic lid sauce can, move it to the dark gray stove kitchenpot's side",
+    "Pick the hand-sized sauce can and position it next to the medium-sized kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the smooth gray kitchenpot",
+    "Set the sauce can with sealed top near the cooking kitchenpot with side grips after picking it up",
+    "Place the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to move the yellow brown sauce can beside the cylindrical kitchenpot",
+    "Lift the sauce can and set it next to the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the metal kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern up and move it next to the metal kitchenpot",
+    "Take the sauce can with sealed top to the cooking kitchenpot with side grips using the left arm",
+    "Pick up the hand-sized sauce can and put it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cooking kitchenpot with side grips",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Move the yellow brown sauce can to be next to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern and move it close to the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern, place it by the smooth gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the medium kitchenpot made of metal",
+    "Move the sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and move it near the medium-sized kitchenpot",
+    "Take the sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can right next to the metal kitchenpot"
+  ],
+  "unseen": [
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode14.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ba6c3ce85a92ee29253bceb79c171eda62c590
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the metal kitchenpot",
+    "Move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Take the yellow brown sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Place the cylindrical sauce can next to the round kitchenpot with handles",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the smooth gray kitchenpot",
+    "Set the sauce can near the medium-sized kitchenpot after picking it up",
+    "Use the left arm to lift the sauce can and place it near the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and move it close to the gray kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Set the medium sauce can with white lid right next to the kitchenpot for boiling and cooking",
+    "Place the white plastic lid sauce can beside the cylindrical kitchenpot after picking it up",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish using the left arm and position it by the metal kitchenpot",
+    "With the left arm, grab the sauce can and move to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, shift it, and place it close to the round kitchenpot with handles",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to take the sauce can to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Grab the cylindrical sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to move the round sauce can with yellow pattern beside the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Lift the medium sauce can with white lid and move it near the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the gray kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the gray cylindrical metal kitchenpot's side",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can and move it beside the round kitchenpot with handles",
+    "Move the white plastic lid sauce can beside the round kitchenpot with handles after lifting it",
+    "Take the rounded-edge sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Place the plastic lid sauce can next to the medium kitchenpot made of metal",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Set the yellow brown sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to lift the yellow brown sauce can and place it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top with the left arm and set by the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can right next to the smooth gray kitchenpot",
+    "Place the hand-sized sauce can beside the medium-sized kitchenpot after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can, place it by the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the metal kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the sauce can and place it next to the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can to the metal kitchenpot using the left arm",
+    "Grab the sauce can with the left arm and set it near the metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Bring the medium sauce can with white lid over and set it near the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it, and place by the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Lift the rounded-edge sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode15.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..07efa824ef16694a6c52ffbf748a74bf13358111
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can with glossy finish and place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the cylindrical kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Using the left arm, lift the hand-sized sauce can and place it by the round kitchenpot with handles",
+    "Set the cylindrical sauce can right next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it to the round kitchenpot with handles's side",
+    "Move the round sauce can with yellow pattern from its spot to near the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid and set it next to the gray kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Place the round sauce can with yellow pattern next to the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cylindrical kitchenpot",
+    "Move the sauce can to be next to the gray kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the cylindrical kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and move it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the round kitchenpot with handles",
+    "Place the sauce can with sealed top beside the medium kitchenpot made of metal after picking it up",
+    "Grab the sauce can, move it, and place by the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to the smooth gray kitchenpot with the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the gray kitchenpot",
+    "Take the rounded-edge sauce can to the medium-sized kitchenpot using the left arm",
+    "Lift the sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can and move it close to the cooking kitchenpot with side grips",
+    "Take the sauce can using the left arm, set it next to the metal kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Using the left arm, lift the sauce can with sealed top and place it by the gray kitchenpot",
+    "Set the white plastic lid sauce can right next to the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, move it to the medium-sized kitchenpot's side",
+    "Move the white plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern and put it beside the metal kitchenpot",
+    "Set the sauce can with glossy finish near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid up with the left arm then place near the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Place the sauce can next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the plastic lid sauce can beside the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the gray kitchenpot",
+    "Place the yellow brown sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Grab the sauce can with sealed top, move it, and place by the gray kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and move it next to the gray kitchenpot",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Grab the white plastic lid sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Take the medium sauce can with white lid to the dark gray stove kitchenpot using the left arm",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top, place it by the gray kitchenpot",
+    "Move the plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Bring the medium sauce can with white lid over and set it near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode16.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4f722cb49a252164a80d6051edb16efa3241bd
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic lid sauce can up and move it next to the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and move it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the cylindrical sauce can and place it by the smooth gray kitchenpot",
+    "Place the white plastic lid sauce can next to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the cylindrical kitchenpot",
+    "Set the rounded-edge sauce can right next to the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Take the plastic lid sauce can to the metal kitchenpot using the left arm",
+    "Grab the sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Move the sauce can beside the gray kitchenpot after lifting it",
+    "Grab the sauce can with sealed top and move it close to the medium-sized kitchenpot",
+    "Set the rounded-edge sauce can near the dark gray stove kitchenpot after picking it up",
+    "Move the cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Move the hand-sized sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the metal kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the round kitchenpot with handles",
+    "Pick the sauce can with sealed top up with the left arm then place near the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the round kitchenpot with handles",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the cylindrical sauce can and move to the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Place the cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
+    "Move the sauce can to be next to the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can and position it next to the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the cylindrical sauce can to the gray kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to grab the sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot for boiling and cooking",
+    "Bring the white plastic lid sauce can over and set it near the round kitchenpot with handles",
+    "Grab the cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the gray kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and move it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium-sized kitchenpot",
+    "Place the cylindrical sauce can next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Set the cylindrical sauce can right next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the round kitchenpot with handles",
+    "Move the sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Grab the sauce can with sealed top and move it close to the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Move the plastic lid sauce can from its spot to near the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the round kitchenpot with handles",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can, position it near the metal kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can using the left arm, set it next to the metal kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can and put it beside the metal kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Place the brown and yellow cylindrical sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Move the plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the metal kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can, place it by the round kitchenpot with handles",
+    "Bring the yellow brown sauce can over and set it near the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode17.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9750d43cf5b5c7db9b124216c9ffccf9b12267c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cooking kitchenpot with side grips",
+    "Move the sauce can to be next to the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with sealed top and place it by the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Use the left arm to pick the plastic lid sauce can, position it near the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the gray kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to the medium kitchenpot made of metal with the left arm",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Place the sauce can with glossy finish next to the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can beside the gray kitchenpot after lifting it",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and set it next to the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can to the round kitchenpot with handles using the left arm",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can beside the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "With the left arm, grab the rounded-edge sauce can and move to the cylindrical kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Pick up the medium sauce can with white lid and put it beside the dark gray stove kitchenpot",
+    "Place the hand-sized sauce can beside the medium-sized kitchenpot after picking it up",
+    "Set the rounded-edge sauce can near the gray kitchenpot after picking it up",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the metal kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the metal kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern from its spot to near the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Set the white plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the gray kitchenpot",
+    "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the metal kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern to the kitchenpot with smooth exterior with the left arm",
+    "Lift the sauce can with sealed top and move it near the kitchenpot with smooth exterior",
+    "Pick the hand-sized sauce can and position it next to the round kitchenpot with handles",
+    "Place the white plastic lid sauce can next to the smooth gray kitchenpot",
+    "Move the plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Grab the sauce can with glossy finish and move it close to the gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot for boiling and cooking",
+    "Take the yellow brown sauce can to the metal kitchenpot using the left arm",
+    "Pick the white plastic lid sauce can up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to move the sauce can beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "With the left arm, grab the hand-sized sauce can and move to the gray cylindrical metal kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top and put it beside the cooking kitchenpot with side grips",
+    "Place the sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Set the plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the hand-sized sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Lift the sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and set it near the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Move the yellow brown sauce can from its spot to near the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the gray kitchenpot",
+    "Set the yellow brown sauce can right next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, move it to the kitchenpot for boiling and cooking's side",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to take the sauce can to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode18.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d64b77eb7016fe864e11f03178d8fffa840510
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top, then place it next to the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Set the sauce can with glossy finish near the cooking kitchenpot with side grips after picking it up",
+    "Set the medium sauce can with white lid right next to the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Move the sauce can with glossy finish to be next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Place the hand-sized sauce can beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the smooth gray kitchenpot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Place the medium sauce can with white lid next to the dark gray stove kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the smooth gray kitchenpot",
+    "Move the hand-sized sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the plastic lid sauce can and place it by the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can, place it by the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the metal kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to take the sauce can with glossy finish to the metal kitchenpot",
+    "Take the sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid and position it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can and move it close to the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cooking kitchenpot with side grips",
+    "Pick the cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and move it near the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Lift the white plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the metal kitchenpot after picking it up",
+    "Set the plastic lid sauce can right next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can to be next to the smooth gray kitchenpot",
+    "Lift the sauce can and set it beside the cooking kitchenpot with side grips",
+    "Place the sauce can with sealed top beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the medium kitchenpot made of metal",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Place the medium sauce can with white lid next to the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can from its spot to near the smooth gray kitchenpot",
+    "Move the sauce can to the metal kitchenpot with the left arm",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and set it next to the metal kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it to the round kitchenpot with handles's side",
+    "Use the left arm to take the round sauce can with yellow pattern to the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid and position it next to the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can and put it beside the gray kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and move it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the plastic lid sauce can and place it near the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can beside the metal kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the medium-sized kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid to the smooth gray kitchenpot using the left arm",
+    "Lift the sauce can and set it next to the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode19.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..0143518c88018e9876a9e1651d58774b52fd266c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top and move it close to the smooth gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Move the rounded-edge sauce can to be next to the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern and position it next to the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid to the smooth gray kitchenpot using the left arm",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it beside the cooking kitchenpot with side grips",
+    "Take the sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the cooking kitchenpot with side grips after picking it up",
+    "Lift the sauce can and set it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to the gray kitchenpot with the left arm",
+    "With the left arm, grab the sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Set the round sauce can with yellow pattern right next to the round kitchenpot with handles",
+    "Move the rounded-edge sauce can from its spot to near the medium-sized kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Pick the yellow brown sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to grab the sauce can and transfer it near the gray kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Place the sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to take the cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Grab the sauce can and move it close to the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top beside the medium-sized kitchenpot after lifting it",
+    "Move the sauce can with sealed top to be next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and move it near the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid next to the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the yellow brown sauce can and place it near the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the smooth gray kitchenpot",
+    "Take the sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the round kitchenpot with handles",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, place it by the kitchenpot with smooth exterior",
+    "Set the hand-sized sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray kitchenpot",
+    "Move the plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "With the left arm, grab the sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the medium-sized kitchenpot",
+    "Lift the sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Set the brown and yellow cylindrical sauce can right next to the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot with smooth exterior",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray kitchenpot",
+    "Pick up the sauce can with the left arm and set by the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the metal kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it to the cooking kitchenpot with side grips's side"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode2.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ccb827e93cebcac72b08ed4fffbb0cc2633181
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the brown and yellow cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the smooth gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it, and place by the round kitchenpot with handles",
+    "Place the cylindrical sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Grab the rounded-edge sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and move it next to the cooking kitchenpot with side grips",
+    "Bring the plastic lid sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to the dark gray stove kitchenpot with the left arm",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the round kitchenpot with handles",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can and place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can and transfer it near the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Pick up the sauce can and put it beside the medium-sized kitchenpot",
+    "Take the white plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, move it to the round kitchenpot with handles's side",
+    "Lift the sauce can with glossy finish and set it next to the smooth gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the gray kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Place the sauce can with sealed top next to the gray kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Set the plastic lid sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the cylindrical sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the round sauce can with yellow pattern to the metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Set the yellow brown sauce can right next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can, then move it next to the smooth gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it, and place by the metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and set it next to the gray kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and move it near the gray kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to the medium-sized kitchenpot with the left arm",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the medium-sized kitchenpot",
+    "Pick up the sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can, place it by the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, shift it, and place it close to the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid and put it beside the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can to the cylindrical kitchenpot using the left arm",
+    "Take the sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it to the cylindrical kitchenpot's side",
+    "Lift the yellow brown sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium-sized kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the medium-sized kitchenpot",
+    "Place the white plastic lid sauce can next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can and move it close to the medium kitchenpot made of metal",
+    "Set the plastic lid sauce can near the dark gray stove kitchenpot after picking it up",
+    "Move the round sauce can with yellow pattern beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the white plastic lid sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to take the plastic lid sauce can to the metal kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode20.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc9811734ccca319e724560b6e0fff1844ab24b
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium sauce can with white lid and put it beside the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the round kitchenpot with handles",
+    "Grab the sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the cooking kitchenpot with side grips",
+    "Pick up the sauce can with glossy finish with the left arm and set by the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Move the medium sauce can with white lid to be next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to take the plastic lid sauce can to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the kitchenpot with smooth exterior",
+    "Place the round sauce can with yellow pattern next to the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Bring the sauce can with sealed top over and set it near the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up and move it next to the gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the gray kitchenpot",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to move the rounded-edge sauce can beside the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish and move it close to the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can to the round kitchenpot with handles with the left arm",
+    "Grab the sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Pick the cylindrical sauce can and position it next to the smooth gray kitchenpot",
+    "Set the sauce can with glossy finish near the cooking kitchenpot with side grips after picking it up",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Place the sauce can with glossy finish beside the metal kitchenpot after picking it up",
+    "Take the rounded-edge sauce can to the cylindrical kitchenpot using the left arm",
+    "Lift the hand-sized sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can and move to the smooth gray kitchenpot",
+    "Set the hand-sized sauce can right next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the cylindrical kitchenpot",
+    "Lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Pick up the sauce can and put it beside the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the smooth gray kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Move the yellow brown sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the metal kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Place the white plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Move the sauce can from its spot to near the metal kitchenpot",
+    "Move the sauce can beside the cylindrical kitchenpot after lifting it",
+    "Bring the yellow brown sauce can over and set it near the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Pick the sauce can up and move it next to the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid, move it to the metal kitchenpot's side",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it near the gray kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the smooth gray kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the round kitchenpot with handles",
+    "Lift the hand-sized sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the round kitchenpot with handles",
+    "Set the sauce can with glossy finish near the gray kitchenpot after picking it up",
+    "Grab the plastic lid sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern beside the kitchenpot for boiling and cooking after picking it up",
+    "Take the sauce can with glossy finish to the round kitchenpot with handles using the left arm",
+    "Lift the sauce can with glossy finish and set it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish, place it by the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the dark gray stove kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Set the round sauce can with yellow pattern right next to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode21.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..0151f801932069b8ab1163938933adf81a333e65
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the yellow brown sauce can and move it beside the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the medium-sized kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to the dark gray stove kitchenpot with the left arm",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, move it to the kitchenpot for boiling and cooking's side",
+    "Take the brown and yellow cylindrical sauce can to the gray kitchenpot using the left arm",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the round kitchenpot with handles",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the gray cylindrical metal kitchenpot",
+    "Set the rounded-edge sauce can right next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the smooth gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can and move it close to the round kitchenpot with handles",
+    "Use the left arm to move the sauce can beside the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, move it, and place by the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Place the sauce can with sealed top next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can and place it near the gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can and position it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium-sized kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish to be next to the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top beside the medium-sized kitchenpot after picking it up",
+    "Bring the sauce can with glossy finish over and set it near the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to take the yellow brown sauce can to the medium-sized kitchenpot",
+    "Set the hand-sized sauce can near the smooth gray kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and place it next to the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid, place it by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern from its spot to near the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium-sized kitchenpot with the left arm",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, move it to the smooth gray kitchenpot's side",
+    "Take the round sauce can with yellow pattern to the medium kitchenpot made of metal using the left arm",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the sauce can and move to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the cooking kitchenpot with side grips",
+    "Set the sauce can with sealed top right next to the medium-sized kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up with the left arm then place near the round kitchenpot with handles",
+    "Using the left arm, lift the plastic lid sauce can and place it by the metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Place the cylindrical sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to be next to the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top beside the medium-sized kitchenpot after picking it up",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the medium kitchenpot made of metal",
+    "Set the cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid and place it next to the metal kitchenpot",
+    "Lift the sauce can with sealed top, place it by the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode22.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f841ea755edae636ec96c7b8bf8fbc346b1607
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic lid sauce can and move it close to the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Place the medium sauce can with white lid beside the medium kitchenpot made of metal after picking it up",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the medium kitchenpot made of metal",
+    "Move the sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the round kitchenpot with handles",
+    "Bring the round sauce can with yellow pattern over and set it near the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can to be next to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can beside the smooth gray kitchenpot",
+    "Place the white plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the dark gray stove kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and move it near the medium kitchenpot made of metal",
+    "Move the sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the medium-sized kitchenpot after picking it up",
+    "Grab the cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Pick up the sauce can and put it beside the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Pick the cylindrical sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Take the sauce can with sealed top with the left arm, place it near the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and place it next to the medium kitchenpot made of metal",
+    "Take the sauce can to the metal kitchenpot using the left arm",
+    "Place the hand-sized sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the round kitchenpot with handles",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the metal kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cylindrical kitchenpot",
+    "Set the white plastic lid sauce can right next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the metal kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, place it by the round kitchenpot with handles",
+    "Move the plastic lid sauce can to be next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up and move it next to the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "Move the sauce can with glossy finish beside the cylindrical kitchenpot after lifting it",
+    "With the left arm, grab the hand-sized sauce can and move to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish using the left arm and position it by the gray kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid next to the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and move it near the gray kitchenpot",
+    "Move the plastic lid sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Set the medium sauce can with white lid near the kitchenpot for boiling and cooking after picking it up",
+    "Grab the rounded-edge sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish and put it beside the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to take the yellow brown sauce can to the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode23.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8dd212b10d4ec4a4ad6dd2b3850f99518fa9e99
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and move it near the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can up and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the metal kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the smooth gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to take the plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Set the sauce can with sealed top right next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the metal kitchenpot",
+    "Set the medium sauce can with white lid near the medium kitchenpot made of metal after picking it up",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot with the left arm",
+    "Take the sauce can with sealed top to the gray kitchenpot using the left arm",
+    "Use the left arm to pick the sauce can with sealed top, position it near the cylindrical kitchenpot",
+    "Place the rounded-edge sauce can beside the medium-sized kitchenpot after picking it up",
+    "Move the sauce can beside the medium-sized kitchenpot after lifting it",
+    "Take the sauce can with sealed top with the left arm, place it near the metal kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the medium-sized kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can beside the metal kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Move the sauce can with sealed top to be next to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the metal kitchenpot's side",
+    "Place the white plastic lid sauce can next to the gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium-sized kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the cooking kitchenpot with side grips",
+    "Pick the sauce can up and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, place it by the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Bring the cylindrical sauce can over and set it near the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to take the yellow brown sauce can to the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can right next to the cylindrical kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can and move it next to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Set the yellow brown sauce can near the metal kitchenpot after picking it up",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can to the round kitchenpot with handles with the left arm",
+    "Take the yellow brown sauce can to the gray kitchenpot using the left arm",
+    "Use the left arm to pick the plastic lid sauce can, position it near the metal kitchenpot",
+    "Place the rounded-edge sauce can beside the smooth gray kitchenpot after picking it up",
+    "Move the plastic lid sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Take the sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top, shift it, and place it close to the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Place the brown and yellow cylindrical sauce can next to the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode24.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..891a6e4c245f814d43689e09ba5ba318ebda5a18
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray kitchenpot",
+    "Move the sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cooking kitchenpot with side grips",
+    "Place the white plastic lid sauce can beside the round kitchenpot with handles after picking it up",
+    "Set the white plastic lid sauce can right next to the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top to be next to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and set it next to the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the rounded-edge sauce can to the medium-sized kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the gray kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Lift the sauce can with glossy finish and place it next to the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up with the left arm then place near the metal kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the round kitchenpot with handles",
+    "Take the yellow brown sauce can with the left arm, place it near the metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cylindrical kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and move it near the kitchenpot with smooth exterior",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Bring the plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot with the left arm",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the smooth gray kitchenpot",
+    "Place the round sauce can with yellow pattern next to the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the metal kitchenpot",
+    "Move the plastic lid sauce can beside the metal kitchenpot after lifting it",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Place the plastic lid sauce can beside the round kitchenpot with handles after picking it up",
+    "Set the cylindrical sauce can right next to the round kitchenpot with handles",
+    "Move the white plastic lid sauce can to be next to the metal kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the round kitchenpot with handles",
+    "Use the left arm to move the cylindrical sauce can beside the smooth gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it beside the gray kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Set the hand-sized sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the hand-sized sauce can and place it next to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Pick up the sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can from its spot to near the metal kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the metal kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the cooking kitchenpot with side grips",
+    "Lift the sauce can, place it by the round kitchenpot with handles",
+    "Take the hand-sized sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the medium-sized kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can to the medium kitchenpot made of metal using the left arm",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Take the sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the kitchenpot for boiling and cooking",
+    "Bring the sauce can with sealed top over and set it near the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to the medium-sized kitchenpot with the left arm",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can and put it beside the round kitchenpot with handles",
+    "Place the rounded-edge sauce can next to the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode25.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..75719be236df768a6f81011bb660851f022a91cd
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the white plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "Move the cylindrical sauce can from its spot to near the gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish to the dark gray stove kitchenpot using the left arm",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Set the plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the medium-sized kitchenpot's side",
+    "Lift the white plastic lid sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and place it next to the gray kitchenpot",
+    "Place the sauce can with sealed top beside the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to lift the sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern and move it close to the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can up and move it next to the metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Place the sauce can next to the gray kitchenpot",
+    "Take the sauce can using the left arm, set it next to the metal kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the smooth gray kitchenpot",
+    "Set the rounded-edge sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to lift the hand-sized sauce can and place it near the cooking kitchenpot with side grips",
+    "Pick up the rounded-edge sauce can and put it beside the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cooking kitchenpot with side grips",
+    "Take the sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Lift the sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Move the sauce can beside the metal kitchenpot after lifting it",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the round kitchenpot with handles",
+    "Move the yellow brown sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Move the sauce can with sealed top from its spot to near the metal kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can to be next to the medium kitchenpot made of metal",
+    "Pick up the sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Take the white plastic lid sauce can to the smooth gray kitchenpot using the left arm",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the metal kitchenpot",
+    "Set the sauce can with glossy finish right next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray kitchenpot",
+    "Grab the cylindrical sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the metal kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and place it next to the dark gray stove kitchenpot",
+    "Place the sauce can with glossy finish beside the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to lift the sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can and move it close to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the metal kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Take the rounded-edge sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top up with the left arm then place near the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray kitchenpot",
+    "Grab the sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Place the cylindrical sauce can next to the round kitchenpot with handles",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can and position it next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and move it near the round kitchenpot with handles",
+    "Set the cylindrical sauce can near the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can and put it beside the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the round kitchenpot with handles",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid beside the medium-sized kitchenpot after lifting it",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode26.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bafbf71a7a3beed6f2f110a92b28b6a9dacb605
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to pick the hand-sized sauce can, position it near the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with handles",
+    "Lift the sauce can with sealed top, place it by the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can and move it close to the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can from its spot to near the gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish to the gray cylindrical metal kitchenpot using the left arm",
+    "Use the left arm to grab the sauce can, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top to the medium kitchenpot made of metal with the left arm",
+    "Lift the yellow brown sauce can and place it next to the smooth gray kitchenpot",
+    "Move the plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Place the yellow brown sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Pick the sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can beside the gray kitchenpot after lifting it",
+    "Set the cylindrical sauce can right next to the gray kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Set the sauce can near the medium kitchenpot made of metal after picking it up",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "With the left arm, grab the sauce can with glossy finish and move to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the medium kitchenpot made of metal",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and move it near the cylindrical kitchenpot",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the round kitchenpot with handles",
+    "Use the left arm to take the sauce can with glossy finish to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can to the metal kitchenpot with the left arm",
+    "Lift the rounded-edge sauce can and place it next to the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to be next to the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the round kitchenpot with handles",
+    "Take the plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Take the plastic lid sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it next to the medium kitchenpot made of metal",
+    "Place the sauce can with sealed top beside the round kitchenpot with handles after picking it up",
+    "Grab the medium sauce can with white lid, move it, and place by the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Move the white plastic lid sauce can beside the smooth gray kitchenpot after lifting it",
+    "Set the sauce can with glossy finish right next to the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the round kitchenpot with handles",
+    "Pick the sauce can with sealed top up and move it next to the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the metal kitchenpot",
+    "Set the sauce can with glossy finish near the smooth gray kitchenpot after picking it up",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the cooking kitchenpot with side grips",
+    "Place the round sauce can with yellow pattern next to the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode27.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..946e7d5dd52012716bdb594ecb1270ef5393985c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow brown sauce can and move it close to the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Move the hand-sized sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, move it to the gray cylindrical metal kitchenpot's side",
+    "Lift the cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Place the brown and yellow cylindrical sauce can next to the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can and move it next to the gray kitchenpot",
+    "Pick up the sauce can with the left arm and set by the gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the round kitchenpot with handles",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Move the medium sauce can with white lid to be next to the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and move it next to the gray kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the gray kitchenpot",
+    "Lift the sauce can and place it next to the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the gray kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and set it next to the cylindrical kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Bring the rounded-edge sauce can over and set it near the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Pick the cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Set the sauce can with glossy finish right next to the metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Take the hand-sized sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can with sealed top and move to the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish and position it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the dark gray stove kitchenpot using the left arm",
+    "Grab the sauce can and move it close to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish beside the cooking kitchenpot with side grips after lifting it",
+    "Move the hand-sized sauce can from its spot to near the gray kitchenpot",
+    "Grab the sauce can, move it to the cylindrical kitchenpot's side",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Place the hand-sized sauce can next to the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cylindrical kitchenpot",
+    "Grab the sauce can, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the round kitchenpot with handles",
+    "Move the white plastic lid sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to take the yellow brown sauce can to the cylindrical kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the metal kitchenpot",
+    "Lift the sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can with sealed top beside the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Bring the cylindrical sauce can over and set it near the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, place it by the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the dark gray stove kitchenpot",
+    "Set the cylindrical sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the dark gray stove kitchenpot",
+    "Set the medium sauce can with white lid right next to the gray kitchenpot",
+    "Place the medium sauce can with white lid beside the gray cylindrical metal kitchenpot after picking it up",
+    "Take the plastic lid sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the smooth gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top to the gray kitchenpot using the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode28.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b91399526e329051449a41881c1b7574aadd9f5
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Set the plastic lid sauce can right next to the cylindrical kitchenpot",
+    "Move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Pick the medium sauce can with white lid and position it next to the medium-sized kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Place the medium sauce can with white lid next to the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cylindrical kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the metal kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, move it, and place by the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can to the metal kitchenpot with the left arm",
+    "Move the rounded-edge sauce can from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Take the rounded-edge sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can and place it next to the metal kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the metal kitchenpot",
+    "Grab the cylindrical sauce can, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid to be next to the cylindrical kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the metal kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the cooking kitchenpot with side grips",
+    "Set the sauce can with glossy finish near the medium kitchenpot made of metal after picking it up",
+    "Pick the yellow brown sauce can up and move it next to the medium kitchenpot made of metal",
+    "Lift the sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Place the round sauce can with yellow pattern beside the kitchenpot for boiling and cooking after picking it up",
+    "Take the plastic lid sauce can to the metal kitchenpot using the left arm",
+    "Lift the sauce can with glossy finish, place it by the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the dark gray stove kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Pick the yellow brown sauce can and position it next to the smooth gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Place the white plastic lid sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, move it, and place by the metal kitchenpot",
+    "Move the medium sauce can with white lid to the gray kitchenpot with the left arm",
+    "Move the white plastic lid sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it near the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Take the sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the medium kitchenpot made of metal",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the smooth gray kitchenpot",
+    "Set the sauce can with glossy finish near the kitchenpot with smooth exterior after picking it up",
+    "Pick the rounded-edge sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the round kitchenpot with handles",
+    "Place the round sauce can with yellow pattern beside the metal kitchenpot after picking it up",
+    "Take the sauce can with glossy finish to the kitchenpot with smooth exterior using the left arm",
+    "Lift the sauce can with glossy finish, place it by the medium-sized kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the round kitchenpot with handles",
+    "Use the left arm to take the yellow brown sauce can to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it beside the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode29.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..1981842d6b6238bedf08a096874f286e993d6f71
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Take the sauce can with sealed top with the left arm, place it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray kitchenpot",
+    "Set the medium sauce can with white lid right next to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the smooth gray kitchenpot",
+    "Set the white plastic lid sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the round kitchenpot with handles",
+    "Grab the cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and move it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the medium kitchenpot made of metal",
+    "Use the left arm to move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the medium kitchenpot made of metal",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Grab the sauce can, move it to the round kitchenpot with handles's side",
+    "Lift the medium sauce can with white lid using the left arm and position it by the cylindrical kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Place the sauce can with glossy finish next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top beside the gray cylindrical metal kitchenpot after lifting it",
+    "Move the brown and yellow cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Use the left arm to take the rounded-edge sauce can to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to the kitchenpot with smooth exterior with the left arm",
+    "Lift the medium sauce can with white lid and set it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and set it next to the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the kitchenpot for boiling and cooking",
+    "Place the sauce can with glossy finish beside the kitchenpot for boiling and cooking after picking it up",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish to the medium kitchenpot made of metal using the left arm",
+    "Pick up the cylindrical sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the medium kitchenpot made of metal",
+    "Set the sauce can with sealed top right next to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can and move it close to the gray kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Set the rounded-edge sauce can near the medium kitchenpot made of metal after picking it up",
+    "Using the left arm, lift the sauce can with sealed top and place it by the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the yellow brown sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium-sized kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it to the gray kitchenpot's side",
+    "Lift the white plastic lid sauce can using the left arm and position it by the gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can next to the round kitchenpot with handles",
+    "Move the yellow brown sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Move the white plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to the medium-sized kitchenpot with the left arm",
+    "Lift the yellow brown sauce can and set it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the sauce can, then place it next to the metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the plastic lid sauce can and move to the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the round kitchenpot with handles",
+    "Place the sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Pick the rounded-edge sauce can up with the left arm then place near the gray kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Take the hand-sized sauce can to the gray kitchenpot using the left arm",
+    "Pick up the yellow brown sauce can and put it beside the gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the gray kitchenpot",
+    "Pick the sauce can and position it next to the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode3.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..6763762e8d2f6161612456068c274d4324d2e052
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can and position it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Set the plastic lid sauce can right next to the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Bring the cylindrical sauce can over and set it near the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot with the left arm",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the smooth gray kitchenpot",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the metal kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, move it, and place by the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can beside the gray kitchenpot",
+    "Lift the sauce can, then place it next to the gray kitchenpot",
+    "Lift the sauce can and set it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to take the sauce can with glossy finish to the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with glossy finish beside the medium kitchenpot made of metal after picking it up",
+    "Using the left arm, lift the sauce can with sealed top and place it by the round kitchenpot with handles",
+    "Take the yellow brown sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Grab the plastic lid sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the medium-sized kitchenpot",
+    "Set the yellow brown sauce can near the cylindrical kitchenpot after picking it up",
+    "Move the white plastic lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Lift the yellow brown sauce can, place it by the cylindrical kitchenpot",
+    "Take the sauce can with sealed top to the round kitchenpot with handles using the left arm",
+    "Lift the sauce can with sealed top and move it near the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top and place it near the kitchenpot with smooth exterior",
+    "Pick the yellow brown sauce can and position it next to the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium-sized kitchenpot",
+    "Set the medium sauce can with white lid right next to the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "Pick up the yellow brown sauce can and put it beside the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish with the left arm and set it near the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Pick the sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the medium-sized kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the smooth gray kitchenpot",
+    "Place the sauce can with sealed top next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the gray kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can to be next to the gray kitchenpot",
+    "Place the sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Using the left arm, lift the sauce can with sealed top and place it by the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Lift the white plastic lid sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Set the sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Move the sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Lift the sauce can with sealed top, place it by the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top to the medium-sized kitchenpot using the left arm"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode30.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2da325e9def4cfa9dfebf6fb36bbe5dc264cbf8
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rounded-edge sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with sealed top and place it near the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Take the hand-sized sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and move it near the medium kitchenpot made of metal",
+    "Use the left arm to move the rounded-edge sauce can beside the cooking kitchenpot with side grips",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium kitchenpot made of metal",
+    "Set the hand-sized sauce can near the round kitchenpot with handles after picking it up",
+    "Grab the rounded-edge sauce can and move it close to the medium-sized kitchenpot",
+    "Place the round sauce can with yellow pattern beside the metal kitchenpot after picking it up",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid, move it to the medium-sized kitchenpot's side",
+    "Lift the yellow brown sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the round kitchenpot with handles",
+    "Place the round sauce can with yellow pattern next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, place it by the kitchenpot with smooth exterior",
+    "Grab the sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the kitchenpot with smooth exterior",
+    "Bring the sauce can over and set it near the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can and put it beside the gray kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid up and move it next to the dark gray stove kitchenpot",
+    "Set the rounded-edge sauce can right next to the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and position it beside the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid to be next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick up the plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Use the left arm to take the yellow brown sauce can to the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to the kitchenpot for boiling and cooking with the left arm",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the gray kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the round kitchenpot with handles",
+    "Move the rounded-edge sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the round kitchenpot with handles",
+    "Use the left arm to pick the yellow brown sauce can, position it near the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the round kitchenpot with handles",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the gray kitchenpot",
+    "Set the plastic lid sauce can near the metal kitchenpot after picking it up",
+    "Grab the yellow brown sauce can and move it close to the cooking kitchenpot with side grips",
+    "Place the hand-sized sauce can beside the cylindrical kitchenpot after picking it up",
+    "Take the sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Lift the round sauce can with yellow pattern, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the metal kitchenpot",
+    "Place the white plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can, place it by the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot for boiling and cooking",
+    "Bring the medium sauce can with white lid over and set it near the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the metal kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Set the plastic lid sauce can right next to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Move the sauce can with sealed top beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid with the left arm and set it near the metal kitchenpot",
+    "Move the hand-sized sauce can to be next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode31.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..3993435de10f392cb58c079a219601f369a8c293
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Bring the sauce can over and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to take the medium sauce can with white lid to the metal kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the smooth gray kitchenpot",
+    "Grab the sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Place the cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Lift the sauce can with sealed top and place it next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Set the sauce can right next to the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Lift the sauce can with sealed top and set it next to the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can to the metal kitchenpot with the left arm",
+    "Move the white plastic lid sauce can to be next to the gray kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cooking kitchenpot with side grips",
+    "Take the white plastic lid sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the medium-sized kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the round kitchenpot with handles after picking it up",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the cylindrical kitchenpot",
+    "Place the hand-sized sauce can next to the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the round kitchenpot with handles",
+    "Use the left arm to move the sauce can beside the medium-sized kitchenpot",
+    "Pick the sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it to the kitchenpot with smooth exterior's side",
+    "Lift the cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot for boiling and cooking",
+    "Take the plastic lid sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can and move it near the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up and move it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the dark gray stove kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Place the plastic lid sauce can beside the cylindrical kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can and place it next to the gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the medium-sized kitchenpot",
+    "Set the sauce can with sealed top right next to the metal kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the smooth gray kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Lift the white plastic lid sauce can and set it next to the metal kitchenpot",
+    "Move the cylindrical sauce can to the medium-sized kitchenpot with the left arm",
+    "Move the cylindrical sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cylindrical kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish and put it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the metal kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Set the medium sauce can with white lid near the round kitchenpot with handles after picking it up",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the gray kitchenpot",
+    "Place the hand-sized sauce can next to the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the gray kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Lift the cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the metal kitchenpot",
+    "Move the round sauce can with yellow pattern beside the medium kitchenpot made of metal after lifting it"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode32.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..18e84530b9e5792b08012bc7ec8abfb95642ea44
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the sauce can and move it close to the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to the round kitchenpot with handles with the left arm",
+    "Grab the sauce can with the left arm and move it close to the metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the dark gray stove kitchenpot's side",
+    "Bring the round sauce can with yellow pattern over and set it near the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the metal kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the round kitchenpot with handles",
+    "Place the cylindrical sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Lift the plastic lid sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Set the hand-sized sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Pick the hand-sized sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid, move it, and place by the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top beside the medium kitchenpot made of metal after lifting it",
+    "Place the round sauce can with yellow pattern next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can, place it by the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the plastic lid sauce can to the gray kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Grab the sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and carefully position it beside the gray kitchenpot",
+    "Set the cylindrical sauce can right next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the cylindrical kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the metal kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the plastic lid sauce can to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid to the cylindrical kitchenpot with the left arm",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish, move it to the smooth gray kitchenpot's side",
+    "Bring the round sauce can with yellow pattern over and set it near the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray kitchenpot",
+    "Place the yellow brown sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Lift the sauce can with glossy finish and set it beside the round kitchenpot with handles",
+    "Use the left arm to move the sauce can beside the smooth gray kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can using the left arm, set it next to the metal kitchenpot",
+    "Set the white plastic lid sauce can near the dark gray stove kitchenpot after picking it up",
+    "Pick the plastic lid sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the round kitchenpot with handles",
+    "Grab the cylindrical sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Move the sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Place the sauce can with sealed top next to the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the medium sauce can with white lid to the gray kitchenpot",
+    "Pick up the sauce can and put it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Pick the cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Set the cylindrical sauce can right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the round kitchenpot with handles",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Move the cylindrical sauce can to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode33.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e3aeae98e9c89dfba6d034a938f65648380607
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cylindrical kitchenpot",
+    "Move the yellow brown sauce can beside the cylindrical kitchenpot after lifting it",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth exterior using the left arm",
+    "Lift the rounded-edge sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the gray kitchenpot",
+    "Set the medium sauce can with white lid near the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the dark gray stove kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid to be next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the medium-sized kitchenpot",
+    "Place the medium sauce can with white lid beside the metal kitchenpot after picking it up",
+    "Grab the white plastic lid sauce can, move it to the gray kitchenpot's side",
+    "Using the left arm, lift the yellow brown sauce can and place it by the medium kitchenpot made of metal",
+    "Place the sauce can next to the gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the round sauce can with yellow pattern beside the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the yellow brown sauce can, position it near the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid using the left arm, set it next to the medium kitchenpot made of metal",
+    "Pick the sauce can up and move it next to the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick up the sauce can and put it beside the metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and move it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can and move it beside the round kitchenpot with handles",
+    "Set the plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the gray kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can beside the metal kitchenpot after lifting it",
+    "Take the yellow brown sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Lift the hand-sized sauce can, then place it next to the metal kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Set the sauce can with sealed top near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the smooth gray kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the metal kitchenpot",
+    "Move the white plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Place the cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Grab the sauce can, move it to the round kitchenpot with handles's side",
+    "Using the left arm, lift the cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid next to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can and position it next to the gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Take the yellow brown sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can and move it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Move the plastic lid sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the metal kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Pick the sauce can up and move it next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot with smooth exterior",
+    "Pick the hand-sized sauce can up and carefully position it beside the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the metal kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the round kitchenpot with handles",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, shift it, and place it close to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode34.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db7c669edb9091e28ecb6a3bda557a21efcf6cb
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hand-sized sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Bring the plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish, place it by the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Place the rounded-edge sauce can beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and move it next to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the gray kitchenpot",
+    "Move the plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and place it next to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the kitchenpot with smooth exterior after picking it up",
+    "With the left arm, grab the white plastic lid sauce can and move to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the smooth gray kitchenpot",
+    "Set the yellow brown sauce can right next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can and place it near the kitchenpot with smooth exterior",
+    "Pick up the yellow brown sauce can and put it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the gray kitchenpot",
+    "Take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking using the left arm",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Grab the sauce can, move it to the gray kitchenpot's side",
+    "Lift the hand-sized sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the metal kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the kitchenpot with smooth exterior",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can and position it next to the gray kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the cylindrical kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Bring the sauce can over and set it near the gray kitchenpot",
+    "Lift the yellow brown sauce can, place it by the smooth gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the gray kitchenpot",
+    "Pick the sauce can up and move it next to the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can to the smooth gray kitchenpot with the left arm",
+    "Move the cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid and set it next to the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cylindrical kitchenpot",
+    "Set the sauce can with sealed top near the cylindrical kitchenpot after picking it up",
+    "With the left arm, grab the white plastic lid sauce can and move to the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot for boiling and cooking",
+    "Set the medium sauce can with white lid right next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with sealed top and place it near the gray cylindrical metal kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the cylindrical kitchenpot",
+    "Take the yellow brown sauce can to the dark gray stove kitchenpot using the left arm",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it to the cylindrical kitchenpot's side",
+    "Lift the hand-sized sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Move the plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish to be next to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can and move it close to the medium-sized kitchenpot",
+    "Pick the sauce can up with the left arm then place near the metal kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the gray kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Use the left arm to move the yellow brown sauce can beside the metal kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can and position it next to the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top with the left arm, place it near the metal kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode35.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32a5491a9cde4736d5786046640681ffc9ffccc
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern and position it next to the smooth gray kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the gray kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the gray kitchenpot after picking it up",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium kitchenpot made of metal",
+    "Take the sauce can with sealed top to the smooth gray kitchenpot using the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the gray kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the gray kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the smooth gray kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the kitchenpot with smooth exterior",
+    "Move the sauce can to be next to the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the cylindrical kitchenpot",
+    "Set the sauce can near the medium kitchenpot made of metal after picking it up",
+    "Move the rounded-edge sauce can beside the smooth gray kitchenpot after lifting it",
+    "Lift the sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the gray kitchenpot",
+    "Set the sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Place the medium sauce can with white lid next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the plastic lid sauce can to the gray kitchenpot",
+    "Lift the sauce can, then place it next to the gray kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the medium sauce can with white lid beside the kitchenpot with smooth exterior",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the medium-sized kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the medium kitchenpot made of metal with the left arm",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the gray kitchenpot",
+    "Lift the cylindrical sauce can and move it near the round kitchenpot with handles",
+    "Place the sauce can beside the smooth gray kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the round kitchenpot with handles",
+    "Grab the cylindrical sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish with the left arm and set by the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can to the smooth gray kitchenpot using the left arm",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the gray kitchenpot",
+    "Lift the sauce can, place it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with sealed top, position it near the medium-sized kitchenpot",
+    "Bring the sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to be next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the round kitchenpot with handles",
+    "Set the cylindrical sauce can near the medium-sized kitchenpot after picking it up",
+    "Move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can up and move it next to the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the cylindrical kitchenpot",
+    "Set the yellow brown sauce can right next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, move it to the round kitchenpot with handles's side",
+    "Place the brown and yellow cylindrical sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the metal kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the medium-sized kitchenpot",
+    "Pick the sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can beside the kitchenpot with smooth exterior",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the cooking kitchenpot with side grips",
+    "Take the plastic lid sauce can using the left arm, set it next to the gray kitchenpot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot with the left arm"
+  ],
+  "unseen": [
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode36.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3f309184b696ae9d85e9f590efea8d48363d28
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the yellow brown sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can with sealed top, position it near the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can next to the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid with the left arm and set by the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can right next to the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth exterior using the left arm",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can, move it to the medium-sized kitchenpot's side",
+    "Move the round sauce can with yellow pattern to the kitchenpot for boiling and cooking with the left arm",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the metal kitchenpot",
+    "Lift the sauce can and move it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the round kitchenpot with handles",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can and move it close to the medium-sized kitchenpot",
+    "Set the sauce can near the medium kitchenpot made of metal after picking it up",
+    "Lift the round sauce can with yellow pattern and set it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, then place it next to the smooth gray kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the round kitchenpot with handles",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with glossy finish and move to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the dark gray stove kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the gray kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Place the white plastic lid sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Move the hand-sized sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Grab the plastic lid sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray kitchenpot",
+    "Place the rounded-edge sauce can next to the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Set the medium sauce can with white lid right next to the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Take the sauce can with sealed top to the kitchenpot for boiling and cooking using the left arm",
+    "Take the sauce can with glossy finish using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, move it to the medium kitchenpot made of metal's side",
+    "Move the hand-sized sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Lift the white plastic lid sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium-sized kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the medium-sized kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the gray kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the round kitchenpot with handles",
+    "Move the plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the kitchenpot with smooth exterior after picking it up",
+    "Lift the sauce can with sealed top and set it beside the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the cooking kitchenpot with side grips",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick up the cylindrical sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the dark gray stove kitchenpot",
+    "Lift the sauce can, place it by the smooth gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the kitchenpot with smooth exterior",
+    "Use the left arm to move the plastic lid sauce can beside the round kitchenpot with handles",
+    "Pick the hand-sized sauce can and position it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Move the sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the sauce can with sealed top with the left arm and move it close to the metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode37.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..420f8ad5f2453021725da7d8310c6491522690ee
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up and carefully position it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can to be next to the medium kitchenpot made of metal",
+    "Use the left arm to move the plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to take the hand-sized sauce can to the dark gray stove kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the round kitchenpot with handles",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the medium-sized kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top, then place it next to the round kitchenpot with handles",
+    "Place the rounded-edge sauce can next to the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and set it next to the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Set the sauce can near the smooth gray kitchenpot after picking it up",
+    "Move the white plastic lid sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid right next to the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid to the kitchenpot for boiling and cooking with the left arm",
+    "Take the plastic lid sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Place the rounded-edge sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Pick the cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, move it, and place by the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the cylindrical kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the medium-sized kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can and move to the gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can and move it close to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and move it near the cylindrical kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the medium-sized kitchenpot",
+    "Place the hand-sized sauce can next to the metal kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can, place it by the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up with the left arm then place near the metal kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the medium-sized kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Set the medium sauce can with white lid near the kitchenpot for boiling and cooking after picking it up",
+    "Move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot after lifting it",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can right next to the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top and put it beside the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Take the white plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Place the white plastic lid sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Pick the rounded-edge sauce can and position it next to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode38.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d807a1da7625d5a838c80c0c953e31fd682386f
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the hand-sized sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the hand-sized sauce can, position it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can with sealed top beside the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the round kitchenpot with handles",
+    "Set the plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the dark gray stove kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the gray kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the gray kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with sealed top and place it by the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Grab the cylindrical sauce can with the left arm and move it close to the metal kitchenpot",
+    "Lift the sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the smooth gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can, move it, and place by the gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the gray kitchenpot",
+    "Place the sauce can next to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Set the rounded-edge sauce can near the gray kitchenpot after picking it up",
+    "Pick the rounded-edge sauce can up and move it next to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and move it near the cooking kitchenpot with side grips",
+    "Place the sauce can beside the gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the medium-sized kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the smooth gray kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid to the dark gray stove kitchenpot with the left arm",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the hand-sized sauce can, position it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the yellow brown sauce can beside the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick up the plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and position it beside the metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid and move it close to the kitchenpot for boiling and cooking",
+    "Move the sauce can from its spot to near the metal kitchenpot",
+    "Set the sauce can right next to the medium-sized kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can and position it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can to be next to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the gray kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can, then place it next to the round kitchenpot with handles",
+    "Using the left arm, lift the yellow brown sauce can and place it by the smooth gray kitchenpot",
+    "Take the round sauce can with yellow pattern to the metal kitchenpot using the left arm",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the smooth gray kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the gray kitchenpot",
+    "Grab the sauce can, move it, and place by the gray kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish beside the medium kitchenpot made of metal after lifting it",
+    "Set the hand-sized sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Pick the cylindrical sauce can up and move it next to the gray kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and move it near the metal kitchenpot",
+    "Place the sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the round kitchenpot with handles",
+    "Bring the sauce can with sealed top over and set it near the kitchenpot for boiling and cooking",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode39.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..35759db63487a4035df54763d8cbfcba11709234
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded-edge sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Place the medium sauce can with white lid beside the kitchenpot for boiling and cooking after picking it up",
+    "Lift the medium sauce can with white lid, then place it next to the round kitchenpot with handles",
+    "Use the left arm to take the rounded-edge sauce can to the medium kitchenpot made of metal",
+    "Set the sauce can with glossy finish near the round kitchenpot with handles after picking it up",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the sauce can to the medium-sized kitchenpot with the left arm",
+    "Pick the white plastic lid sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can to be next to the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the metal kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the round kitchenpot with handles",
+    "Take the white plastic lid sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can and move to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the metal kitchenpot",
+    "Set the plastic lid sauce can right next to the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Pick up the sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top and position it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can, place it by the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Place the white plastic lid sauce can next to the gray kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Lift the cylindrical sauce can and set it beside the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can and move it close to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid, move it, and place by the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Place the sauce can with glossy finish beside the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the hand-sized sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to take the round sauce can with yellow pattern to the medium-sized kitchenpot",
+    "Set the sauce can near the metal kitchenpot after picking it up",
+    "Pick the rounded-edge sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Move the round sauce can with yellow pattern to the dark gray stove kitchenpot with the left arm",
+    "Pick the sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the smooth gray kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the gray kitchenpot",
+    "Move the medium sauce can with white lid to be next to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can and put it beside the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can and move to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can right next to the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the medium-sized kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Take the plastic lid sauce can to the gray kitchenpot using the left arm",
+    "Place the round sauce can with yellow pattern next to the smooth gray kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top beside the medium kitchenpot made of metal after lifting it",
+    "Lift the sauce can with sealed top and set it beside the medium-sized kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and set it next to the metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and set it next to the metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode4.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..2beb8ebcdd8f0622240b13f604bf3a2cd41c5768
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the gray kitchenpot",
+    "Grab the sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and position it by the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with sealed top and place it near the dark gray stove kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the smooth gray kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the round kitchenpot with handles",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the plastic lid sauce can beside the metal kitchenpot",
+    "Move the yellow brown sauce can to the dark gray stove kitchenpot with the left arm",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the round kitchenpot with handles",
+    "Take the yellow brown sauce can to the smooth gray kitchenpot using the left arm",
+    "Lift the round sauce can with yellow pattern and set it beside the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the metal kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the cooking kitchenpot with side grips",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Move the plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Bring the sauce can with glossy finish over and set it near the dark gray stove kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Set the sauce can with glossy finish near the medium-sized kitchenpot after picking it up",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern and move it close to the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can from its spot to near the round kitchenpot with handles",
+    "Place the cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid and set it next to the metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Place the brown and yellow cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top beside the cylindrical kitchenpot after lifting it",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick up the sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and set it near the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the medium-sized kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Use the left arm to take the yellow brown sauce can to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the smooth gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot for boiling and cooking",
+    "Move the rounded-edge sauce can to the dark gray stove kitchenpot with the left arm",
+    "Grab the yellow brown sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it, and place by the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can to the smooth gray kitchenpot using the left arm",
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can, place it by the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with sealed top and place it by the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and move it near the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Bring the sauce can with glossy finish over and set it near the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Set the medium sauce can with white lid right next to the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Set the rounded-edge sauce can near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, then place it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can and put it beside the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the kitchenpot with smooth exterior",
+    "Place the hand-sized sauce can beside the cylindrical kitchenpot after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium-sized kitchenpot",
+    "Place the medium sauce can with white lid next to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Grab the plastic lid sauce can, shift it, and place it close to the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode40.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..66f2016978b6a55da5a94068629c3487bfb97706
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to move the hand-sized sauce can beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the cylindrical kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the sauce can, move it to the dark gray stove kitchenpot's side",
+    "Pick up the sauce can with glossy finish and put it beside the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish to the kitchenpot with smooth exterior using the left arm",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Set the sauce can with sealed top near the gray kitchenpot after picking it up",
+    "Use the left arm to lift the sauce can, then move it next to the metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to the medium-sized kitchenpot with the left arm",
+    "Set the brown and yellow cylindrical sauce can right next to the metal kitchenpot",
+    "Place the yellow brown sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid with the left arm and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and set it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the round kitchenpot with handles",
+    "With the left arm, grab the sauce can and move to the cooking kitchenpot with side grips",
+    "Take the white plastic lid sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the hand-sized sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and move it near the cooking kitchenpot with side grips",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Bring the sauce can over and set it near the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid from its spot to near the gray kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to move the rounded-edge sauce can beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the round kitchenpot with handles",
+    "Use the left arm to take the yellow brown sauce can to the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, move it, and place by the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can and place it near the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it to the cooking kitchenpot with side grips's side",
+    "Pick up the hand-sized sauce can and put it beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the metal kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the dark gray stove kitchenpot",
+    "Lift the sauce can and place it next to the gray kitchenpot",
+    "Take the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Set the white plastic lid sauce can near the round kitchenpot with handles after picking it up",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Move the sauce can to the smooth gray kitchenpot with the left arm",
+    "Set the rounded-edge sauce can right next to the medium-sized kitchenpot",
+    "Place the sauce can with sealed top beside the cooking kitchenpot with side grips after picking it up",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "With the left arm, grab the plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Using the left arm, lift the hand-sized sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the gray cylindrical metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the cylindrical kitchenpot",
+    "Bring the sauce can over and set it near the round kitchenpot with handles",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode41.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba2e38eb5fcbd4f2d301e5035c1b65ab9a95b1a
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to be next to the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Take the sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, move it, and place by the kitchenpot with smooth exterior",
+    "Bring the yellow brown sauce can over and set it near the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the kitchenpot with smooth exterior",
+    "Use the left arm to take the rounded-edge sauce can to the medium kitchenpot made of metal",
+    "Place the round sauce can with yellow pattern beside the smooth gray kitchenpot after picking it up",
+    "Lift the white plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can, move it to the gray kitchenpot's side",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the medium kitchenpot made of metal",
+    "Set the cylindrical sauce can right next to the metal kitchenpot",
+    "Move the white plastic lid sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray kitchenpot using the left arm",
+    "Lift the sauce can and set it next to the smooth gray kitchenpot",
+    "Pick the sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, place it by the gray kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top using the left arm and position it by the gray kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid up and carefully position it beside the gray kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the gray kitchenpot",
+    "Move the yellow brown sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to pick the sauce can, position it near the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can next to the metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Pick up the cylindrical sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot for boiling and cooking",
+    "With the left arm, grab the sauce can with sealed top and move to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can and move it close to the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot for boiling and cooking",
+    "Set the cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Take the cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the gray kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the sauce can to the round kitchenpot with handles",
+    "Place the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the metal kitchenpot",
+    "Grab the sauce can with sealed top, move it to the kitchenpot with smooth exterior's side",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the smooth gray kitchenpot",
+    "Set the plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can, then move it next to the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the round kitchenpot with handles",
+    "Take the sauce can with sealed top to the medium kitchenpot made of metal using the left arm",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top, place it by the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the round kitchenpot with handles",
+    "Move the white plastic lid sauce can from its spot to near the metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Using the left arm, lift the cylindrical sauce can and place it by the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the metal kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the round kitchenpot with handles",
+    "Move the sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Place the sauce can next to the medium kitchenpot made of metal",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and move it near the round kitchenpot with handles",
+    "With the left arm, grab the plastic lid sauce can and move to the gray kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode42.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2038e47b797e7fc6f5f913969a0695adf796246
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can and set it beside the metal kitchenpot",
+    "Place the sauce can next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern from its spot to near the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the medium kitchenpot made of metal",
+    "Take the sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to take the yellow brown sauce can to the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can and position it next to the metal kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the dark gray stove kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it, and place by the gray cylindrical metal kitchenpot",
+    "Take the sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Place the hand-sized sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Lift the medium sauce can with white lid and move it near the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can, position it near the smooth gray kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the gray kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can beside the round kitchenpot with handles after lifting it",
+    "Set the medium sauce can with white lid right next to the gray kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the gray kitchenpot",
+    "Set the rounded-edge sauce can near the gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the round kitchenpot with handles",
+    "Grab the plastic lid sauce can, move it to the metal kitchenpot's side",
+    "Lift the white plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick the sauce can with glossy finish up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the sauce can and set it beside the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid next to the gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the metal kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the plastic lid sauce can and place it by the medium kitchenpot made of metal",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the cooking kitchenpot with side grips",
+    "Move the sauce can with glossy finish to the cooking kitchenpot with side grips with the left arm",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can to the gray kitchenpot using the left arm",
+    "Use the left arm to take the yellow brown sauce can to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can, place it by the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and move it close to the metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can and move it close to the medium-sized kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the gray kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Place the cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can and move it near the metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can to be next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the gray cylindrical metal kitchenpot",
+    "Bring the sauce can over and set it near the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can beside the round kitchenpot with handles after lifting it",
+    "Set the rounded-edge sauce can right next to the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the smooth gray kitchenpot",
+    "Set the sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode43.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..18996c3089b76c464198618ac77982641d12e47f
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the dark gray stove kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Place the sauce can with sealed top next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the dark gray stove kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the round kitchenpot with handles",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "With the left arm, grab the white plastic lid sauce can and move to the gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and position it beside the gray kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can and move it near the smooth gray kitchenpot",
+    "Set the sauce can with sealed top near the metal kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the gray kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can beside the smooth gray kitchenpot after lifting it",
+    "Move the white plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, place it near the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top beside the cylindrical kitchenpot after picking it up",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, then place it next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to the dark gray stove kitchenpot with the left arm",
+    "Grab the white plastic lid sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the smooth gray kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Place the round sauce can with yellow pattern next to the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can with sealed top beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid to the gray cylindrical metal kitchenpot using the left arm",
+    "With the left arm, grab the cylindrical sauce can and move to the gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid up with the left arm then place near the round kitchenpot with handles",
+    "Use the left arm to lift the hand-sized sauce can and place it near the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid near the smooth gray kitchenpot after picking it up",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Take the white plastic lid sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can to be next to the cylindrical kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Move the white plastic lid sauce can from its spot to near the gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Place the sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Pick the plastic lid sauce can and position it next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid, then place it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can with glossy finish to the metal kitchenpot with the left arm",
+    "Grab the rounded-edge sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Bring the medium sauce can with white lid over and set it near the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode44.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..679c31c312e31b5e614adc7efcf3bdb4860e79c5
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the white plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the metal kitchenpot",
+    "Take the sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Set the hand-sized sauce can near the medium kitchenpot made of metal after picking it up",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the gray kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and move it near the medium kitchenpot made of metal",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it next to the medium-sized kitchenpot",
+    "Place the rounded-edge sauce can next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish and move it close to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Take the sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish beside the cooking kitchenpot with side grips after picking it up",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to lift the plastic lid sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick the sauce can and position it next to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Move the cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the cylindrical sauce can and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Set the sauce can with glossy finish right next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the metal kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can to be next to the smooth gray kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cooking kitchenpot with side grips",
+    "Take the sauce can with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium-sized kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the gray kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can near the medium kitchenpot made of metal after picking it up",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the dark gray stove kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the cylindrical kitchenpot",
+    "Pick the sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the medium kitchenpot made of metal",
+    "Grab the sauce can and move it close to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can, move it, and place by the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cylindrical kitchenpot",
+    "Pick the sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Place the round sauce can with yellow pattern beside the round kitchenpot with handles after picking it up",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Move the medium sauce can with white lid to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot with smooth exterior",
+    "Bring the yellow brown sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the dark gray stove kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid right next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode45.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1c33e07656c5186863e52fc4804a53d9d5ce2e
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the white plastic lid sauce can to the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Place the hand-sized sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Take the hand-sized sauce can to the medium-sized kitchenpot using the left arm",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium-sized kitchenpot with the left arm",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Set the sauce can with glossy finish near the gray kitchenpot after picking it up",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can and position it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and position it by the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the medium-sized kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the medium kitchenpot made of metal",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the smooth gray kitchenpot",
+    "Grab the sauce can, move it to the round kitchenpot with handles's side",
+    "Lift the yellow brown sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and set it next to the metal kitchenpot",
+    "Bring the sauce can over and set it near the metal kitchenpot",
+    "Place the white plastic lid sauce can next to the gray kitchenpot",
+    "Pick up the sauce can and put it beside the gray kitchenpot",
+    "Move the plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Grab the hand-sized sauce can and move it close to the cylindrical kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Lift the sauce can and move it near the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can and place it next to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Place the yellow brown sauce can beside the smooth gray kitchenpot after picking it up",
+    "Take the plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Move the sauce can with glossy finish to the round kitchenpot with handles with the left arm",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the cylindrical sauce can and place it by the cooking kitchenpot with side grips",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the smooth gray kitchenpot",
+    "Set the plastic lid sauce can near the gray kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Take the rounded-edge sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray kitchenpot",
+    "Pick the sauce can and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it, and place by the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it to the gray kitchenpot's side",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to move the white plastic lid sauce can beside the round kitchenpot with handles",
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it next to the medium-sized kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Place the cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Move the yellow brown sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid right next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and move it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode46.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb2c2d7d632ec5ba88f974556981724d8083b00
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical sauce can and move it close to the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it, and place by the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to take the yellow brown sauce can to the metal kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can right next to the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the medium kitchenpot made of metal",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray kitchenpot",
+    "Place the rounded-edge sauce can beside the smooth gray kitchenpot after picking it up",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Move the plastic lid sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Place the round sauce can with yellow pattern next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and move it near the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the medium-sized kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the medium-sized kitchenpot",
+    "Move the sauce can to be next to the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot for boiling and cooking",
+    "Take the brown and yellow cylindrical sauce can to the smooth gray kitchenpot using the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid, move it to the cooking kitchenpot with side grips's side",
+    "Set the yellow brown sauce can near the dark gray stove kitchenpot after picking it up",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the metal kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the round kitchenpot with handles",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up and move it next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid with the left arm, place it near the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Set the sauce can with glossy finish right next to the gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the rounded-edge sauce can and move to the medium-sized kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the smooth gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can beside the gray kitchenpot after lifting it",
+    "Place the sauce can next to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the metal kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Move the yellow brown sauce can to the dark gray stove kitchenpot with the left arm",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the round kitchenpot with handles",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the metal kitchenpot",
+    "Move the sauce can to be next to the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid up with the left arm then place near the cooking kitchenpot with side grips",
+    "Bring the medium sauce can with white lid over and set it near the round kitchenpot with handles",
+    "Move the yellow brown sauce can from its spot to near the round kitchenpot with handles",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it to the dark gray stove kitchenpot's side",
+    "Set the medium sauce can with white lid near the kitchenpot with smooth exterior after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode47.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..98bf0912b08ac3632abc4e5de20d2254125e8ce0
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the metal kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can, place it by the smooth gray kitchenpot",
+    "Take the cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the metal kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the medium-sized kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, then place it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and set it beside the cooking kitchenpot with side grips",
+    "Place the cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Place the sauce can next to the metal kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can and position it next to the gray kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Move the yellow brown sauce can to the dark gray stove kitchenpot with the left arm",
+    "Grab the sauce can with sealed top with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Set the white plastic lid sauce can right next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the gray kitchenpot",
+    "Set the plastic lid sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to take the cylindrical sauce can to the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern beside the cylindrical kitchenpot after lifting it",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the gray kitchenpot",
+    "Grab the sauce can and move it close to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern and put it beside the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the gray kitchenpot",
+    "Move the cylindrical sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the medium-sized kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the metal kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the dark gray stove kitchenpot",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the cylindrical kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the dark gray stove kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Place the yellow brown sauce can beside the smooth gray kitchenpot after picking it up",
+    "Place the brown and yellow cylindrical sauce can next to the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can to the medium kitchenpot made of metal with the left arm",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the round kitchenpot with handles",
+    "Set the sauce can with sealed top right next to the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the gray kitchenpot",
+    "Set the hand-sized sauce can near the metal kitchenpot after picking it up",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the medium-sized kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Move the plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Grab the sauce can and move it close to the kitchenpot with smooth exterior",
+    "Lift the sauce can and move it near the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can and put it beside the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the gray kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the metal kitchenpot",
+    "Move the sauce can with glossy finish to be next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and place it next to the gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode48.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..edbdd01f4f9a83d5d2d94bb1f513a8a71571fade
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic lid sauce can up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the medium-sized kitchenpot's side",
+    "Pick the sauce can with glossy finish up and carefully position it beside the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the dark gray stove kitchenpot",
+    "Set the sauce can with sealed top near the dark gray stove kitchenpot after picking it up",
+    "Move the white plastic lid sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Take the plastic lid sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Pick up the sauce can with sealed top and put it beside the smooth gray kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "Place the sauce can with glossy finish next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can and move it close to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the gray kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish to be next to the kitchenpot for boiling and cooking",
+    "Bring the hand-sized sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the gray kitchenpot",
+    "Set the plastic lid sauce can right next to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the round kitchenpot with handles",
+    "Grab the yellow brown sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can up and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the medium kitchenpot made of metal",
+    "With the left arm, grab the yellow brown sauce can and move to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the metal kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, place it by the medium-sized kitchenpot",
+    "Place the white plastic lid sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Pick the hand-sized sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and set it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the gray kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Lift the sauce can and move it near the metal kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Grab the cylindrical sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the metal kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it to the dark gray stove kitchenpot's side",
+    "Pick the medium sauce can with white lid up and carefully position it beside the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Move the brown and yellow cylindrical sauce can to the gray kitchenpot with the left arm",
+    "Take the sauce can with glossy finish to the medium-sized kitchenpot using the left arm",
+    "Pick up the white plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can next to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can and move it close to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the dark gray stove kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Move the sauce can with sealed top to be next to the medium kitchenpot made of metal",
+    "Bring the white plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the medium-sized kitchenpot",
+    "Set the hand-sized sauce can right next to the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot for boiling and cooking",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can up with the left arm then place near the gray kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, place it by the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Pick the medium sauce can with white lid and position it next to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the smooth gray kitchenpot",
+    "Move the sauce can with sealed top beside the dark gray stove kitchenpot after lifting it",
+    "Grab the rounded-edge sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode49.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..962003a60bde72c441b049b3deef836332936933
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the white plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish, then place it next to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and set it beside the dark gray stove kitchenpot",
+    "Move the rounded-edge sauce can to be next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to the smooth gray kitchenpot with the left arm",
+    "Move the rounded-edge sauce can from its spot to near the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the round kitchenpot with handles",
+    "With the left arm, grab the hand-sized sauce can and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the medium-sized kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the smooth gray kitchenpot's side",
+    "Place the round sauce can with yellow pattern beside the cylindrical kitchenpot after picking it up",
+    "Lift the white plastic lid sauce can and set it next to the metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Place the brown and yellow cylindrical sauce can next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the round kitchenpot with handles",
+    "Move the sauce can with sealed top beside the metal kitchenpot after lifting it",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the metal kitchenpot",
+    "Pick the sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the medium-sized kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid to the medium-sized kitchenpot using the left arm",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can and place it next to the round kitchenpot with handles",
+    "Bring the hand-sized sauce can over and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the cylindrical sauce can beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Set the sauce can with glossy finish near the gray kitchenpot after picking it up",
+    "Pick the sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Grab the sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the medium-sized kitchenpot",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray kitchenpot",
+    "Set the hand-sized sauce can right next to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the round kitchenpot with handles",
+    "Move the sauce can with glossy finish to be next to the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the gray kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, move it to the gray kitchenpot's side",
+    "Place the cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Lift the cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Place the medium sauce can with white lid next to the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can and put it beside the kitchenpot with smooth exterior",
+    "Move the cylindrical sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the cylindrical sauce can and place it by the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Take the plastic lid sauce can to the gray kitchenpot using the left arm",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Bring the white plastic lid sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the gray kitchenpot after picking it up",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the metal kitchenpot",
+    "Lift the plastic lid sauce can and move it near the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode5.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c90c5c9974bbe5deb1947a2512c60fb6081307
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the sauce can with glossy finish to be next to the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can and place it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the medium-sized kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the round kitchenpot with handles",
+    "Set the white plastic lid sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the round kitchenpot with handles",
+    "Take the medium sauce can with white lid to the cylindrical kitchenpot using the left arm",
+    "Move the brown and yellow cylindrical sauce can to the medium-sized kitchenpot with the left arm",
+    "Place the rounded-edge sauce can beside the smooth gray kitchenpot after picking it up",
+    "Take the plastic lid sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and move it near the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Set the brown and yellow cylindrical sauce can right next to the round kitchenpot with handles",
+    "Pick the sauce can and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Pick up the plastic lid sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium kitchenpot made of metal",
+    "Bring the cylindrical sauce can over and set it near the round kitchenpot with handles",
+    "Move the cylindrical sauce can from its spot to near the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Place the medium sauce can with white lid next to the cylindrical kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cylindrical kitchenpot",
+    "Move the sauce can beside the medium-sized kitchenpot after lifting it",
+    "Lift the hand-sized sauce can using the left arm and position it by the metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the round kitchenpot with handles",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, move it to the metal kitchenpot's side",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the smooth gray kitchenpot",
+    "Move the cylindrical sauce can to be next to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the gray kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the gray kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the medium kitchenpot made of metal",
+    "Set the medium sauce can with white lid near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid to the round kitchenpot with handles using the left arm",
+    "Move the hand-sized sauce can to the medium-sized kitchenpot with the left arm",
+    "Place the plastic lid sauce can beside the smooth gray kitchenpot after picking it up",
+    "Take the hand-sized sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and move it near the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the metal kitchenpot",
+    "Set the sauce can right next to the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can up and set it beside the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the medium-sized kitchenpot",
+    "Move the sauce can from its spot to near the medium-sized kitchenpot",
+    "Lift the sauce can and set it next to the dark gray stove kitchenpot",
+    "Place the hand-sized sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot after lifting it",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, move it to the cylindrical kitchenpot's side",
+    "Lift the rounded-edge sauce can and place it next to the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode6.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..7411e512971d6d0f5c17c586f5081d3bec600740
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the hand-sized sauce can and place it near the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can up and move it next to the gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can, move it, and place by the round kitchenpot with handles",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can to be next to the dark gray stove kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the medium kitchenpot made of metal",
+    "Lift the sauce can, place it by the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it beside the gray kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Pick the round sauce can with yellow pattern and position it next to the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish, then place it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the gray kitchenpot",
+    "Place the hand-sized sauce can next to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the metal kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Set the medium sauce can with white lid near the round kitchenpot with handles after picking it up",
+    "Grab the plastic lid sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the gray kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the gray kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Take the sauce can with sealed top to the kitchenpot with smooth exterior using the left arm",
+    "Place the cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and move it near the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid, move it to the metal kitchenpot's side",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Grab the sauce can with sealed top and move it close to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top up and move it next to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Grab the sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the cooking kitchenpot with side grips",
+    "Move the sauce can with sealed top to be next to the metal kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the cylindrical kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the round kitchenpot with handles",
+    "Lift the sauce can and set it beside the medium kitchenpot made of metal",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Set the medium sauce can with white lid right next to the gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the metal kitchenpot",
+    "Move the rounded-edge sauce can to the dark gray stove kitchenpot with the left arm",
+    "Pick the cylindrical sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the plastic lid sauce can and move to the cooking kitchenpot with side grips",
+    "Place the cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot for boiling and cooking",
+    "Pick up the cylindrical sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can, position it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the smooth gray kitchenpot",
+    "Set the hand-sized sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Move the sauce can with sealed top from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to move the plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid with the left arm, place it near the medium-sized kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Place the sauce can with sealed top beside the kitchenpot for boiling and cooking after picking it up",
+    "Pick the yellow brown sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Move the white plastic lid sauce can beside the metal kitchenpot after lifting it",
+    "Grab the sauce can with sealed top with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and move it near the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, move it to the round kitchenpot with handles's side"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode7.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d8cbd31360c3365a349c74cc35b63dd47041db
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the round sauce can with yellow pattern beside the medium kitchenpot made of metal after lifting it",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the round kitchenpot with handles",
+    "Pick up the cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can with the left arm and set by the gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Set the cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Pick the plastic lid sauce can up and move it next to the medium-sized kitchenpot",
+    "Bring the sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the medium-sized kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the metal kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the cylindrical kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Pick the sauce can up with the left arm then place near the metal kitchenpot",
+    "Lift the yellow brown sauce can and move it near the cooking kitchenpot with side grips",
+    "Pick the sauce can with glossy finish and position it next to the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can, move it beside the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the metal kitchenpot",
+    "Place the round sauce can with yellow pattern beside the cylindrical kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid and set it beside the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the medium-sized kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, place it by the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can to be next to the medium-sized kitchenpot",
+    "Lift the sauce can and place it next to the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it near the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot",
+    "Move the hand-sized sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the metal kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Set the plastic lid sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Pick the hand-sized sauce can up and move it next to the medium kitchenpot made of metal",
+    "Bring the cylindrical sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the metal kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the gray cylindrical metal kitchenpot",
+    "Set the sauce can with glossy finish right next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick the yellow brown sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and move it near the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot with smooth exterior",
+    "Place the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to be next to the gray kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Move the sauce can with glossy finish to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it near the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode8.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4a752344430f01601833d332d0587a2862c22f
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the hand-sized sauce can to the round kitchenpot with handles with the left arm",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and set it next to the metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the metal kitchenpot",
+    "Place the sauce can with glossy finish next to the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the round kitchenpot with handles",
+    "Take the rounded-edge sauce can to the medium-sized kitchenpot using the left arm",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the metal kitchenpot",
+    "Place the cylindrical sauce can beside the medium-sized kitchenpot after picking it up",
+    "Grab the plastic lid sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the gray kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish to be next to the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and set it beside the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Use the left arm to take the rounded-edge sauce can to the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern from its spot to near the metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can and position it next to the gray kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the medium-sized kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, move it to the medium kitchenpot made of metal's side",
+    "Grab the medium sauce can with white lid, move it, and place by the round kitchenpot with handles",
+    "Move the sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray kitchenpot",
+    "Set the plastic lid sauce can right next to the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the gray kitchenpot after picking it up",
+    "Grab the sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Pick up the hand-sized sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can to the cylindrical kitchenpot with the left arm",
+    "Grab the plastic lid sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the dark gray stove kitchenpot",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the metal kitchenpot",
+    "Place the sauce can with sealed top next to the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the kitchenpot with smooth exterior",
+    "Take the sauce can to the smooth gray kitchenpot using the left arm",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the metal kitchenpot",
+    "Place the sauce can with glossy finish beside the medium kitchenpot made of metal after picking it up",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can and move it close to the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Use the left arm to take the round sauce can with yellow pattern to the smooth gray kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "With the left arm, grab the hand-sized sauce can and move to the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Move the sauce can with glossy finish from its spot to near the gray kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the smooth gray kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the yellow brown sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, move it to the gray kitchenpot's side",
+    "Grab the plastic lid sauce can, move it, and place by the medium-sized kitchenpot",
+    "Move the sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and move it near the cylindrical kitchenpot",
+    "Set the sauce can with sealed top right next to the metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the kitchenpot with smooth exterior after picking it up",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode9.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25f45e78ce026888ec61715588d71012856fcb4
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Grab the sauce can, move it, and place by the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Place the yellow brown sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Move the white plastic lid sauce can from its spot to near the medium-sized kitchenpot",
+    "Pick the sauce can and position it next to the metal kitchenpot",
+    "Move the cylindrical sauce can to the gray kitchenpot with the left arm",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and place it next to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot",
+    "Place the sauce can next to the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the gray cylindrical metal kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the metal kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to be next to the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and set it near the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the cylindrical kitchenpot",
+    "Set the white plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the metal kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the metal kitchenpot",
+    "Grab the plastic lid sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can to the medium-sized kitchenpot using the left arm",
+    "Lift the round sauce can with yellow pattern, place it by the cooking kitchenpot with side grips",
+    "Take the white plastic lid sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the kitchenpot for boiling and cooking",
+    "Set the white plastic lid sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Pick up the hand-sized sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the cooking kitchenpot with side grips",
+    "Place the yellow brown sauce can beside the metal kitchenpot after picking it up",
+    "Move the sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the cylindrical kitchenpot with the left arm",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the sauce can to the round kitchenpot with handles",
+    "Place the sauce can next to the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and move it near the metal kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the cooking kitchenpot with side grips",
+    "With the left arm, grab the hand-sized sauce can and move to the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the hand-sized sauce can and place it near the round kitchenpot with handles",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Lift the yellow brown sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the rounded-edge sauce can using the left arm and position it by the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can and move it beside the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot for boiling and cooking",
+    "Set the round sauce can with yellow pattern near the gray cylindrical metal kitchenpot after picking it up",
+    "Pick up the plastic lid sauce can and put it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can and set it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/scene_info.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c813f535758df6c924d74981d8021a6cf8399e19
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/scene_info.json
@@ -0,0 +1,14552 @@
+{
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+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_1",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
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+            "strict_freeze": true
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+        "texture_info": {
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+            "table_texture": null
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+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_49": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_1",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                        }
+                    }
+                },
+                "place_can_basket": {
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+                    "basket": {
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+                                0.5,
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+                            "rotate_rand": false
+                        }
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+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
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+                        }
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+                "open_laptop": {
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+                        "rand_pose": {
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+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_1",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/seed.txt b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3797e92c41ae27cd9a99ec4ba41b3680aa31552b
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_1/seed.txt
@@ -0,0 +1 @@
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diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode0.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0462cfa505ac9a4643f2eb216fb932ed4938521
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the cylindrical sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Set the hand-sized sauce can right next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top and move it close to the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and set it beside the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the gray kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the gray kitchenpot's side",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the plastic lid sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the gray kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can and put it beside the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the dark gray stove kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the cylindrical kitchenpot",
+    "Lift the sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the gray kitchenpot after lifting it",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can and place it by the metal kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the dark gray stove kitchenpot",
+    "Place the plastic lid sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Move the round sauce can with yellow pattern to the gray kitchenpot with the left arm",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can, place it by the metal kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Set the sauce can with sealed top near the smooth gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the sauce can to be next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the sauce can with sealed top and move to the gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the gray kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the gray kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Set the hand-sized sauce can right next to the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can and move it close to the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern to the cooking kitchenpot with side grips using the left arm",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the gray kitchenpot",
+    "Pick up the sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the metal kitchenpot",
+    "Lift the sauce can and set it beside the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the plastic lid sauce can and place it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the gray kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the dark gray stove kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the metal kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Move the sauce can with sealed top beside the gray cylindrical metal kitchenpot after lifting it",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the dark gray stove kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the kitchenpot with smooth exterior",
+    "Place the brown and yellow cylindrical sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Move the cylindrical sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can, place it by the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the gray kitchenpot",
+    "Set the sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot",
+    "Move the yellow brown sauce can to be next to the dark gray stove kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with side grips",
+    "Use the left arm to move the round sauce can with yellow pattern beside the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode1.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a41aeba8a74919aafdc77ea9f0c1524daf537ba
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hand-sized sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the round kitchenpot with handles",
+    "Use the left arm to pick the cylindrical sauce can, position it near the round kitchenpot with handles",
+    "Pick up the sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Grab the sauce can with sealed top and move it close to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can, place it by the round kitchenpot with handles",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the round kitchenpot with handles",
+    "Move the sauce can with glossy finish from its spot to near the smooth gray kitchenpot",
+    "Grab the sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to take the sauce can with sealed top to the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Bring the white plastic lid sauce can over and set it near the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the medium-sized kitchenpot",
+    "Move the sauce can to the smooth gray kitchenpot with the left arm",
+    "Lift the brown and yellow cylindrical sauce can and move it near the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top and position it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top using the left arm, set it next to the round kitchenpot with handles",
+    "Take the medium sauce can with white lid to the medium kitchenpot made of metal using the left arm",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the dark gray stove kitchenpot",
+    "Place the rounded-edge sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the kitchenpot for boiling and cooking",
+    "Place the sauce can with glossy finish next to the gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the round kitchenpot with handles after picking it up",
+    "Set the hand-sized sauce can right next to the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can to be next to the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the medium-sized kitchenpot",
+    "Lift the sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the round kitchenpot with handles after lifting it",
+    "Pick the sauce can with sealed top up and carefully position it beside the gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can and put it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can and move it close to the gray kitchenpot",
+    "Lift the hand-sized sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Move the yellow brown sauce can from its spot to near the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to take the sauce can to the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the round kitchenpot with handles",
+    "Bring the sauce can with sealed top over and set it near the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Lift the yellow brown sauce can and move it near the medium-sized kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the cylindrical kitchenpot",
+    "Lift the sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the medium-sized kitchenpot",
+    "Place the sauce can beside the round kitchenpot with handles after picking it up",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up and move it next to the dark gray stove kitchenpot",
+    "Place the white plastic lid sauce can next to the round kitchenpot with handles",
+    "Set the white plastic lid sauce can near the gray kitchenpot after picking it up",
+    "Set the sauce can with glossy finish right next to the cylindrical kitchenpot",
+    "Move the white plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Lift the sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Move the yellow brown sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to move the medium sauce can with white lid beside the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the round kitchenpot with handles",
+    "Grab the sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode10.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..c72543a08c79c5cd8e10daaa3059c5f57c7c2ad3
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the yellow brown sauce can next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Place the round sauce can with yellow pattern beside the medium-sized kitchenpot after picking it up",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the cylindrical kitchenpot",
+    "Take the plastic lid sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "With the left arm, grab the sauce can with sealed top and move to the gray kitchenpot",
+    "Move the sauce can to the medium kitchenpot made of metal with the left arm",
+    "Grab the plastic lid sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the medium kitchenpot made of metal",
+    "Move the rounded-edge sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the metal kitchenpot",
+    "Move the medium sauce can with white lid beside the cylindrical kitchenpot after lifting it",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish and move it close to the gray kitchenpot",
+    "Lift the sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish and put it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot with smooth exterior",
+    "Set the hand-sized sauce can right next to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, then place it next to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium kitchenpot made of metal",
+    "Set the hand-sized sauce can near the cylindrical kitchenpot after picking it up",
+    "Lift the sauce can with glossy finish using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to move the round sauce can with yellow pattern beside the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the round kitchenpot with handles",
+    "Use the left arm to take the yellow brown sauce can to the metal kitchenpot",
+    "Grab the cylindrical sauce can, move it to the round kitchenpot with handles's side",
+    "Place the rounded-edge sauce can next to the cylindrical kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the cooking kitchenpot with side grips",
+    "Pick the sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top beside the gray kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern and set it next to the metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid to the metal kitchenpot using the left arm",
+    "With the left arm, grab the sauce can with glossy finish and move to the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium kitchenpot made of metal with the left arm",
+    "Grab the cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Lift the sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Move the sauce can with glossy finish from its spot to near the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid beside the cooking kitchenpot with side grips after lifting it",
+    "Lift the round sauce can with yellow pattern, place it by the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top and move it close to the gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the smooth gray kitchenpot",
+    "Grab the sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Set the sauce can with sealed top right next to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Pick the sauce can and position it next to the cylindrical kitchenpot",
+    "Move the cylindrical sauce can to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the dark gray stove kitchenpot",
+    "Set the white plastic lid sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the plastic lid sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to move the cylindrical sauce can beside the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium-sized kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the metal kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it to the medium kitchenpot made of metal's side"
+  ],
+  "unseen": [
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode11.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea7ac7bed6b0e15b0effdc4d41b7756efd83887f
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic lid sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Move the yellow brown sauce can to the gray kitchenpot with the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the smooth gray kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the metal kitchenpot",
+    "Take the sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and move it near the medium kitchenpot made of metal",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can to the cylindrical kitchenpot using the left arm",
+    "Place the rounded-edge sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can and place it by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Set the rounded-edge sauce can right next to the medium-sized kitchenpot",
+    "Place the hand-sized sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Bring the medium sauce can with white lid over and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the smooth gray kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top, place it by the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the smooth gray kitchenpot after picking it up",
+    "Grab the hand-sized sauce can, move it to the medium-sized kitchenpot's side",
+    "Grab the hand-sized sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the round kitchenpot with handles",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can and position it next to the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to the dark gray stove kitchenpot with the left arm",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the metal kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the round kitchenpot with handles",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up with the left arm then place near the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and move it near the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the yellow brown sauce can and place it near the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the yellow brown sauce can beside the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it next to the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Move the sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the round kitchenpot with handles",
+    "Set the yellow brown sauce can right next to the medium kitchenpot made of metal",
+    "Place the plastic lid sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top, place it by the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the medium kitchenpot made of metal after picking it up",
+    "Grab the hand-sized sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Grab the plastic lid sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to be next to the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the metal kitchenpot after lifting it",
+    "Lift the sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the dark gray stove kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode12.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe5779862e84c6b4c3bb7b59a2e4d9650550e78
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Set the yellow brown sauce can right next to the cylindrical kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the round kitchenpot with handles",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the yellow brown sauce can, position it near the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Place the cylindrical sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can and place it near the metal kitchenpot",
+    "Move the yellow brown sauce can to be next to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Set the sauce can with sealed top near the gray kitchenpot after picking it up",
+    "Take the sauce can to the gray kitchenpot using the left arm",
+    "Grab the sauce can with glossy finish, move it to the kitchenpot for boiling and cooking's side",
+    "Move the sauce can to the metal kitchenpot with the left arm",
+    "Pick the cylindrical sauce can and position it next to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cooking kitchenpot with side grips",
+    "Take the plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can, then place it next to the gray kitchenpot",
+    "Place the medium sauce can with white lid next to the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and move it near the dark gray stove kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid and put it beside the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to move the cylindrical sauce can beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the medium-sized kitchenpot",
+    "Set the hand-sized sauce can right next to the round kitchenpot with handles",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to take the sauce can with sealed top to the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the smooth gray kitchenpot",
+    "Pick the sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Grab the sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the metal kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and position it by the gray kitchenpot",
+    "Grab the sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Pick the sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Place the white plastic lid sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Lift the plastic lid sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray kitchenpot",
+    "Lift the hand-sized sauce can, place it by the round kitchenpot with handles",
+    "Set the round sauce can with yellow pattern near the dark gray stove kitchenpot after picking it up",
+    "Take the cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Grab the rounded-edge sauce can, move it to the gray kitchenpot's side",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Pick the hand-sized sauce can and position it next to the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Place the round sauce can with yellow pattern next to the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with glossy finish and move to the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid and put it beside the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to move the cylindrical sauce can beside the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode13.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..b86b3e62f27f9548a0ec017e762a9d76b5c713f3
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can and put it beside the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the gray kitchenpot",
+    "Move the medium sauce can with white lid beside the cooking kitchenpot with side grips after lifting it",
+    "Take the medium sauce can with white lid with the left arm, place it near the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to the round kitchenpot with handles with the left arm",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the cooking kitchenpot with side grips",
+    "Pick up the sauce can with glossy finish with the left arm and set by the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the round kitchenpot with handles",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to take the sauce can to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it to the metal kitchenpot's side",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid to be next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can, then place it next to the medium-sized kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cylindrical kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and move it next to the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can up and move it next to the round kitchenpot with handles",
+    "Use the left arm to pick the cylindrical sauce can, position it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Place the rounded-edge sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the medium-sized kitchenpot",
+    "Place the hand-sized sauce can next to the smooth gray kitchenpot",
+    "Set the medium sauce can with white lid near the medium-sized kitchenpot after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the metal kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top and place it next to the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, move it, and place by the medium-sized kitchenpot",
+    "Pick the sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish from its spot to near the metal kitchenpot",
+    "Set the medium sauce can with white lid right next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the cooking kitchenpot with side grips",
+    "Take the sauce can using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the round kitchenpot with handles",
+    "Move the sauce can beside the cylindrical kitchenpot after lifting it",
+    "Take the cylindrical sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can to the cylindrical kitchenpot with the left arm",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Bring the sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the gray kitchenpot's side",
+    "Lift the sauce can and set it next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to be next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the cooking kitchenpot with side grips",
+    "With the left arm, grab the rounded-edge sauce can and move to the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the cooking kitchenpot with side grips",
+    "Pick the sauce can up and move it next to the round kitchenpot with handles",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Place the cylindrical sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the round kitchenpot with handles",
+    "Place the sauce can with glossy finish next to the dark gray stove kitchenpot",
+    "Set the yellow brown sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can and move it close to the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Set the yellow brown sauce can right next to the metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Take the sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the smooth gray kitchenpot using the left arm",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can and position it next to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode14.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..141878d45c7c08d6441d9388dd7e114d6a6e6c1c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hand-sized sauce can and position it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up and carefully position it beside the cylindrical kitchenpot",
+    "Grab the sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can to be next to the round kitchenpot with handles",
+    "Using the left arm, lift the plastic lid sauce can and place it by the medium kitchenpot made of metal",
+    "Set the sauce can right next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Place the sauce can with glossy finish beside the kitchenpot with smooth exterior after picking it up",
+    "Grab the white plastic lid sauce can, move it to the smooth gray kitchenpot's side",
+    "Pick up the sauce can with sealed top and put it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the cylindrical kitchenpot",
+    "Take the plastic lid sauce can to the smooth gray kitchenpot using the left arm",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid using the left arm and position it by the dark gray stove kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the metal kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the dark gray stove kitchenpot",
+    "Move the medium sauce can with white lid beside the dark gray stove kitchenpot after lifting it",
+    "Lift the cylindrical sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can to the cylindrical kitchenpot with the left arm",
+    "Grab the sauce can with sealed top with the left arm and position it beside the medium kitchenpot made of metal",
+    "Move the rounded-edge sauce can from its spot to near the cylindrical kitchenpot",
+    "Place the medium sauce can with white lid next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Pick up the rounded-edge sauce can with the left arm and set by the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the metal kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the smooth gray kitchenpot",
+    "Move the sauce can to be next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray kitchenpot",
+    "Set the white plastic lid sauce can right next to the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and set it next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium-sized kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Place the hand-sized sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, move it to the medium-sized kitchenpot's side",
+    "Pick up the medium sauce can with white lid and put it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can to the medium-sized kitchenpot using the left arm",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "With the left arm, grab the sauce can and move to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and move it next to the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the white plastic lid sauce can, place it by the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and move it near the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the metal kitchenpot",
+    "Move the plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the gray kitchenpot",
+    "Place the hand-sized sauce can next to the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Set the round sauce can with yellow pattern near the round kitchenpot with handles after picking it up",
+    "Pick up the yellow brown sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode15.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52001ca74e01516e183dfce91b00cb68b299da8
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rounded-edge sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can to the medium kitchenpot made of metal using the left arm",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Pick the sauce can with glossy finish up and move it next to the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the metal kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Place the medium sauce can with white lid next to the gray kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top with the left arm and set it near the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the cooking kitchenpot with side grips",
+    "Bring the sauce can with sealed top over and set it near the medium kitchenpot made of metal",
+    "Pick the sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Move the yellow brown sauce can beside the metal kitchenpot after lifting it",
+    "Use the left arm to take the sauce can to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top and move it close to the smooth gray kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the cooking kitchenpot with side grips after picking it up",
+    "With the left arm, grab the white plastic lid sauce can and move to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the cooking kitchenpot with side grips",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Lift the sauce can with glossy finish using the left arm and position it by the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish beside the medium kitchenpot made of metal after picking it up",
+    "Pick the plastic lid sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Set the yellow brown sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can to the gray kitchenpot using the left arm",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the sauce can and move it near the gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Take the rounded-edge sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium-sized kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Pick the yellow brown sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and set it next to the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can, place it by the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with sealed top next to the metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid with the left arm and set by the metal kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the metal kitchenpot",
+    "Move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to take the hand-sized sauce can to the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it beside the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish and move it close to the cylindrical kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the metal kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the cylindrical kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Set the cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid to the medium-sized kitchenpot with the left arm",
+    "Lift the white plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Place the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Pick the cylindrical sauce can and position it next to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode16.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..44e441bd0a9a0a1b7ba3b634daaf0e73503ba8b4
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic lid sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the round kitchenpot with handles",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot for boiling and cooking",
+    "Place the sauce can with glossy finish beside the cooking kitchenpot with side grips after picking it up",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Set the cylindrical sauce can right next to the round kitchenpot with handles",
+    "Move the plastic lid sauce can beside the smooth gray kitchenpot after lifting it",
+    "Lift the sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern and move it close to the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and set it beside the medium kitchenpot made of metal",
+    "Pick up the sauce can with sealed top and put it beside the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the round kitchenpot with handles",
+    "Use the left arm to move the sauce can with glossy finish beside the medium-sized kitchenpot",
+    "Place the sauce can with sealed top next to the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Bring the cylindrical sauce can over and set it near the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, shift it, and place it close to the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Move the plastic lid sauce can to be next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the sauce can and move to the gray cylindrical metal kitchenpot",
+    "Move the sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to take the rounded-edge sauce can to the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern to the smooth gray kitchenpot using the left arm",
+    "Use the left arm to pick the sauce can up and set it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the medium kitchenpot made of metal",
+    "Pick up the yellow brown sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the sauce can and place it by the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the plastic lid sauce can, position it near the metal kitchenpot",
+    "Set the white plastic lid sauce can near the gray kitchenpot after picking it up",
+    "Take the sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Place the white plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Lift the sauce can with sealed top, place it by the kitchenpot for boiling and cooking",
+    "Set the round sauce can with yellow pattern right next to the gray kitchenpot",
+    "Move the plastic lid sauce can beside the gray kitchenpot after lifting it",
+    "Lift the rounded-edge sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can and put it beside the gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Place the plastic lid sauce can next to the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Bring the rounded-edge sauce can over and set it near the metal kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the metal kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can and move it near the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the round kitchenpot with handles",
+    "Move the medium sauce can with white lid to be next to the smooth gray kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to take the medium sauce can with white lid to the gray kitchenpot",
+    "Take the hand-sized sauce can to the metal kitchenpot using the left arm",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode17.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..2370d7e734821e5f69133a5f62fddd32cd878388
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the gray kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the kitchenpot with smooth exterior",
+    "Use the left arm to take the plastic lid sauce can to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the metal kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the medium-sized kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Use the left arm to move the sauce can with sealed top beside the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the cylindrical kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can beside the smooth gray kitchenpot after lifting it",
+    "Take the plastic lid sauce can to the round kitchenpot with handles using the left arm",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Set the plastic lid sauce can near the medium-sized kitchenpot after picking it up",
+    "Place the medium sauce can with white lid next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the gray kitchenpot",
+    "Move the hand-sized sauce can to be next to the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the metal kitchenpot",
+    "Lift the sauce can and move it near the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the metal kitchenpot",
+    "Lift the sauce can and set it beside the dark gray stove kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern, move it to the cylindrical kitchenpot's side",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the medium-sized kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can with the left arm and set by the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Move the round sauce can with yellow pattern to the round kitchenpot with handles with the left arm",
+    "Grab the sauce can with glossy finish and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the metal kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Pick the sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cooking kitchenpot with side grips",
+    "Bring the sauce can with glossy finish over and set it near the gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can and place it near the cooking kitchenpot with side grips",
+    "Use the left arm to take the round sauce can with yellow pattern to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the cylindrical kitchenpot",
+    "Place the hand-sized sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to move the sauce can beside the smooth gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the metal kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish, place it by the round kitchenpot with handles",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can beside the round kitchenpot with handles after lifting it",
+    "Take the cylindrical sauce can to the medium kitchenpot made of metal using the left arm",
+    "Pick the yellow brown sauce can up and move it next to the gray kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Set the white plastic lid sauce can near the dark gray stove kitchenpot after picking it up",
+    "Place the medium sauce can with white lid next to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can and place it next to the gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Move the sauce can to be next to the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Using the left arm, lift the cylindrical sauce can and place it by the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the gray kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Move the sauce can with glossy finish to the kitchenpot with smooth exterior with the left arm",
+    "Grab the white plastic lid sauce can and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can, then move it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Set the white plastic lid sauce can right next to the round kitchenpot with handles",
+    "With the left arm, grab the medium sauce can with white lid and move to the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the sauce can and position it next to the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode18.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1950e339d0c27a11d6dca0b0a07885d3d5f4085b
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cylindrical sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the medium sauce can with white lid beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the round kitchenpot with handles",
+    "Pick the sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Move the sauce can with sealed top to the cooking kitchenpot with side grips with the left arm",
+    "Lift the yellow brown sauce can and set it beside the cooking kitchenpot with side grips",
+    "Using the left arm, lift the cylindrical sauce can and place it by the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot with smooth exterior",
+    "Set the hand-sized sauce can right next to the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can to the round kitchenpot with handles using the left arm",
+    "Lift the medium sauce can with white lid, place it by the gray kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the metal kitchenpot",
+    "Pick up the sauce can and put it beside the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Use the left arm to take the plastic lid sauce can to the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot for boiling and cooking",
+    "Place the white plastic lid sauce can next to the medium kitchenpot made of metal",
+    "Grab the sauce can, shift it, and place it close to the gray kitchenpot",
+    "Set the plastic lid sauce can near the metal kitchenpot after picking it up",
+    "With the left arm, grab the sauce can with sealed top and move to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the gray kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can and move it near the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top using the left arm, set it next to the smooth gray kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can, then move it next to the round kitchenpot with handles",
+    "Move the sauce can with glossy finish to be next to the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can, move it to the metal kitchenpot's side",
+    "Place the rounded-edge sauce can beside the smooth gray kitchenpot after picking it up",
+    "Move the rounded-edge sauce can from its spot to near the gray kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Move the yellow brown sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Take the white plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with sealed top, position it near the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Move the sauce can to the round kitchenpot with handles with the left arm",
+    "Lift the cylindrical sauce can and set it beside the medium kitchenpot made of metal",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Set the yellow brown sauce can right next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern to the cylindrical kitchenpot using the left arm",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the metal kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray kitchenpot",
+    "Place the hand-sized sauce can next to the metal kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Set the sauce can with glossy finish near the medium-sized kitchenpot after picking it up",
+    "With the left arm, grab the hand-sized sauce can and move to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up and move it next to the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, move it, and place by the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and move it near the gray kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Bring the sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the round kitchenpot with handles",
+    "Move the white plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it to the metal kitchenpot's side",
+    "Place the round sauce can with yellow pattern beside the gray kitchenpot after picking it up",
+    "Move the sauce can with sealed top from its spot to near the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Take the hand-sized sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode19.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c52dcbc8d4135c2cc0ccc80f73680b69bf220d
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid beside the cylindrical kitchenpot after picking it up",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the medium kitchenpot made of metal",
+    "Set the medium sauce can with white lid right next to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and move it next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the medium-sized kitchenpot",
+    "Place the sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the gray kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the gray kitchenpot",
+    "Lift the sauce can and move it near the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it to the kitchenpot with smooth exterior's side",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the smooth gray kitchenpot",
+    "Lift the sauce can, place it by the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the metal kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the medium sauce can with white lid beside the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the medium kitchenpot made of metal",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid beside the gray kitchenpot after lifting it",
+    "Take the white plastic lid sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to the metal kitchenpot with the left arm",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the round kitchenpot with handles",
+    "With the left arm, grab the sauce can with glossy finish and move to the metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Take the medium sauce can with white lid to the gray cylindrical metal kitchenpot using the left arm",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Place the yellow brown sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the metal kitchenpot",
+    "Move the hand-sized sauce can to be next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with sealed top next to the round kitchenpot with handles",
+    "Use the left arm to take the hand-sized sauce can to the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, move it, and place by the metal kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can, place it by the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Pick the sauce can and position it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium-sized kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can beside the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cylindrical kitchenpot",
+    "Move the yellow brown sauce can beside the cylindrical kitchenpot after lifting it",
+    "Take the rounded-edge sauce can using the left arm, set it next to the gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the cylindrical sauce can and move to the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the smooth gray kitchenpot",
+    "Set the sauce can with glossy finish near the metal kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can to the cylindrical kitchenpot using the left arm"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode2.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef8b31efd49e35f553faf118ee48c44805670a5
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the hand-sized sauce can to be next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the gray kitchenpot",
+    "Place the yellow brown sauce can next to the gray kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Grab the sauce can, move it to the smooth gray kitchenpot's side",
+    "Place the cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Pick the yellow brown sauce can up and move it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick up the sauce can with sealed top and put it beside the metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Move the white plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the kitchenpot with smooth exterior",
+    "Use the left arm to move the medium sauce can with white lid beside the cylindrical kitchenpot",
+    "Move the sauce can from its spot to near the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the cylindrical kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it, and place by the round kitchenpot with handles",
+    "Set the plastic lid sauce can near the medium kitchenpot made of metal after picking it up",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the metal kitchenpot",
+    "Move the plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the round kitchenpot with handles",
+    "Place the medium sauce can with white lid next to the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the gray kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and move it near the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the gray kitchenpot",
+    "Grab the yellow brown sauce can, move it to the smooth gray kitchenpot's side",
+    "Place the plastic lid sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Pick the yellow brown sauce can up and move it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cylindrical kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid using the left arm, set it next to the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Set the yellow brown sauce can right next to the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid to the kitchenpot for boiling and cooking using the left arm",
+    "Pick up the round sauce can with yellow pattern and put it beside the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Move the cylindrical sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the round kitchenpot with handles",
+    "Move the sauce can with sealed top beside the metal kitchenpot after lifting it",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the smooth gray kitchenpot",
+    "Move the sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can, place it by the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can and move it close to the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "Set the sauce can with sealed top near the gray kitchenpot after picking it up",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode20.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d6b09135b914d9808ee233a24fb32212d87b9e
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cylindrical sauce can to be next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Take the yellow brown sauce can to the gray kitchenpot using the left arm",
+    "Pick the sauce can with sealed top up and move it next to the dark gray stove kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the gray kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the kitchenpot for boiling and cooking",
+    "Set the white plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the smooth gray kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the gray kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the cylindrical kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the gray kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the cooking kitchenpot with side grips",
+    "Grab the sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the round kitchenpot with handles",
+    "Take the sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the yellow brown sauce can and place it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Place the brown and yellow cylindrical sauce can next to the metal kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Use the left arm to take the plastic lid sauce can to the round kitchenpot with handles",
+    "Place the round sauce can with yellow pattern beside the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Move the cylindrical sauce can beside the round kitchenpot with handles after lifting it",
+    "Move the medium sauce can with white lid to be next to the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Take the yellow brown sauce can to the gray kitchenpot using the left arm",
+    "Pick the medium sauce can with white lid up and move it next to the medium kitchenpot made of metal",
+    "Set the cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cooking kitchenpot with side grips",
+    "Set the sauce can near the metal kitchenpot after picking it up",
+    "Pick up the rounded-edge sauce can and put it beside the gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and move it near the metal kitchenpot",
+    "Grab the plastic lid sauce can, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can and move it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the kitchenpot for boiling and cooking",
+    "Take the sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Pick the sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Grab the sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Place the sauce can next to the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to take the sauce can to the metal kitchenpot",
+    "Place the yellow brown sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray kitchenpot",
+    "Move the sauce can with sealed top beside the metal kitchenpot after lifting it"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode21.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..efba81754a03fe075c021ac292d68be4bb30cfe7
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can, place it by the medium-sized kitchenpot",
+    "Take the sauce can with sealed top to the kitchenpot for boiling and cooking using the left arm",
+    "Move the hand-sized sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can near the dark gray stove kitchenpot after picking it up",
+    "Place the rounded-edge sauce can next to the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the metal kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the metal kitchenpot",
+    "Place the hand-sized sauce can beside the round kitchenpot with handles after picking it up",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot for boiling and cooking",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cooking kitchenpot with side grips",
+    "Set the white plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the metal kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium kitchenpot made of metal",
+    "Take the sauce can with glossy finish with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and place it next to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the sauce can with glossy finish beside the gray kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the gray kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the round kitchenpot with handles",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the smooth gray kitchenpot",
+    "Take the sauce can with sealed top to the cylindrical kitchenpot using the left arm",
+    "Move the sauce can from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Set the cylindrical sauce can near the round kitchenpot with handles after picking it up",
+    "Place the white plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it, and place by the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can beside the smooth gray kitchenpot after lifting it",
+    "Move the hand-sized sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Pick up the yellow brown sauce can and put it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the gray kitchenpot",
+    "Place the rounded-edge sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Grab the sauce can with glossy finish with the left arm and set it near the metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Bring the white plastic lid sauce can over and set it near the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the metal kitchenpot",
+    "Set the medium sauce can with white lid right next to the kitchenpot with smooth exterior",
+    "Move the yellow brown sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Take the sauce can with glossy finish using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the metal kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish and move it close to the metal kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern and position it next to the medium-sized kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode22.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..82296642a5dfbd01d5f87d4d12fe6bc927ed9af6
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow brown sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to take the cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Move the yellow brown sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the medium kitchenpot made of metal",
+    "Set the round sauce can with yellow pattern near the smooth gray kitchenpot after picking it up",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal kitchenpot",
+    "Place the round sauce can with yellow pattern beside the cooking kitchenpot with side grips after picking it up",
+    "Grab the yellow brown sauce can and move it close to the medium-sized kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the medium-sized kitchenpot",
+    "Move the hand-sized sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can and position it next to the medium-sized kitchenpot",
+    "Take the sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid to be next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can and put it beside the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the metal kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and move it near the dark gray stove kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the round kitchenpot with handles",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid, place it by the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the smooth gray kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the cylindrical kitchenpot",
+    "Place the cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Set the sauce can with glossy finish right next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the smooth gray kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the round kitchenpot with handles",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, move it, and place by the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top to the smooth gray kitchenpot using the left arm",
+    "Move the medium sauce can with white lid from its spot to near the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the smooth gray kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the kitchenpot for boiling and cooking",
+    "Move the rounded-edge sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can near the medium kitchenpot made of metal after picking it up",
+    "Take the plastic lid sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid beside the gray kitchenpot after picking it up",
+    "Grab the yellow brown sauce can and move it close to the medium-sized kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern beside the cylindrical kitchenpot after lifting it",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the gray kitchenpot",
+    "Pick the sauce can and position it next to the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the gray kitchenpot",
+    "Move the sauce can with glossy finish to be next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the medium kitchenpot made of metal",
+    "Pick up the plastic lid sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the round kitchenpot with handles",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top, place it by the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the gray kitchenpot",
+    "Place the white plastic lid sauce can next to the cylindrical kitchenpot",
+    "Set the yellow brown sauce can right next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it, and place by the smooth gray kitchenpot",
+    "Take the cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Move the round sauce can with yellow pattern from its spot to near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode23.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..777a51ec1e04898d6222bbf144a462250edf2b7c
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can and place it near the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the round kitchenpot with handles",
+    "Use the left arm to take the sauce can to the kitchenpot with smooth exterior",
+    "Place the brown and yellow cylindrical sauce can next to the metal kitchenpot",
+    "Place the sauce can with glossy finish beside the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to be next to the metal kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the gray kitchenpot",
+    "Set the medium sauce can with white lid near the kitchenpot with smooth exterior after picking it up",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can and put it beside the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can and position it next to the kitchenpot with smooth exterior",
+    "Take the sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish, move it to the gray cylindrical metal kitchenpot's side",
+    "Lift the rounded-edge sauce can and set it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can beside the round kitchenpot with handles after lifting it",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish to the cylindrical kitchenpot with the left arm",
+    "Bring the rounded-edge sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the round kitchenpot with handles",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Set the cylindrical sauce can right next to the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the metal kitchenpot",
+    "Take the sauce can with sealed top to the round kitchenpot with handles using the left arm",
+    "Lift the brown and yellow cylindrical sauce can and move it near the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the round kitchenpot with handles",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the sauce can and place it next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the gray kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips",
+    "Place the hand-sized sauce can next to the gray kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium-sized kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the smooth gray kitchenpot",
+    "Set the hand-sized sauce can near the cylindrical kitchenpot after picking it up",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "With the left arm, grab the cylindrical sauce can and move to the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the gray kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid and move it close to the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the medium-sized kitchenpot",
+    "Move the white plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Bring the yellow brown sauce can over and set it near the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Set the yellow brown sauce can right next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the gray kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can to the gray kitchenpot using the left arm",
+    "Lift the hand-sized sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick the medium sauce can with white lid up with the left arm then place near the gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode24.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97c0a6b86ef6ab7d6563ca34c8a25150fb19e89
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the metal kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the dark gray stove kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish with the left arm and set it near the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray kitchenpot",
+    "Place the hand-sized sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Pick the sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can and put it beside the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium kitchenpot made of metal",
+    "Set the medium sauce can with white lid right next to the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Take the yellow brown sauce can to the cylindrical kitchenpot using the left arm",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Set the white plastic lid sauce can near the round kitchenpot with handles after picking it up",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the smooth gray kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to be next to the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the round kitchenpot with handles",
+    "Take the yellow brown sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot for boiling and cooking",
+    "Place the hand-sized sauce can next to the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Move the medium sauce can with white lid beside the metal kitchenpot after lifting it",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the medium kitchenpot made of metal",
+    "Bring the round sauce can with yellow pattern over and set it near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Place the plastic lid sauce can beside the gray kitchenpot after picking it up",
+    "Pick the rounded-edge sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can and move it close to the gray kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and move it near the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish using the left arm and position it by the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Move the sauce can to the gray kitchenpot with the left arm",
+    "Lift the sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the metal kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cooking kitchenpot with side grips",
+    "Pick up the sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Pick up the sauce can with sealed top and put it beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish and position it next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the metal kitchenpot",
+    "Set the sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the metal kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with sealed top, position it near the gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Take the rounded-edge sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Move the sauce can with glossy finish from its spot to near the medium kitchenpot made of metal",
+    "Set the brown and yellow cylindrical sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can and move it next to the gray kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Move the hand-sized sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top using the left arm, set it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the sauce can with sealed top and move to the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the gray cylindrical metal kitchenpot",
+    "Place the round sauce can with yellow pattern next to the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish beside the cooking kitchenpot with side grips after lifting it"
+  ],
+  "unseen": [
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode25.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d602aa5f81b4c85b5012ffdf998d459125513b
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium sauce can with white lid using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the round kitchenpot with handles",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the metal kitchenpot's side",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top with the left arm and set by the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the kitchenpot with smooth exterior",
+    "Set the sauce can with sealed top near the gray kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cylindrical kitchenpot",
+    "Place the sauce can with glossy finish beside the cylindrical kitchenpot after picking it up",
+    "Grab the yellow brown sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top and set it beside the gray kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid up and carefully position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cylindrical kitchenpot",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Pick the sauce can with glossy finish up with the left arm then place near the dark gray stove kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Grab the rounded-edge sauce can, move it, and place by the metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the dark gray stove kitchenpot",
+    "Place the yellow brown sauce can next to the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth exterior",
+    "Set the sauce can with glossy finish right next to the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and place it next to the round kitchenpot with handles",
+    "Lift the sauce can and move it near the medium-sized kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the round kitchenpot with handles's side",
+    "Take the sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Bring the sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the smooth gray kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Use the left arm to take the round sauce can with yellow pattern to the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can up and move it next to the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the gray kitchenpot",
+    "Pick the sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Set the cylindrical sauce can near the medium-sized kitchenpot after picking it up",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Grab the sauce can with sealed top, shift it, and place it close to the gray kitchenpot",
+    "Move the plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the cylindrical kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the sauce can with sealed top and place it by the metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Grab the cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Use the left arm to move the sauce can beside the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, then place it next to the gray kitchenpot",
+    "Place the round sauce can with yellow pattern next to the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the dark gray stove kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode26.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..4684ac78047093c07a2230a78cc78793d08c1137
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can from its spot to near the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it beside the metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can to the cylindrical kitchenpot with the left arm",
+    "Move the sauce can with sealed top beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to take the sauce can with glossy finish to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the gray kitchenpot",
+    "Place the sauce can with sealed top next to the metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the smooth gray kitchenpot",
+    "Move the cylindrical sauce can to be next to the gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium kitchenpot made of metal",
+    "Pick up the plastic lid sauce can and put it beside the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the gray kitchenpot",
+    "Lift the sauce can with sealed top and move it near the gray kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the cylindrical kitchenpot's side",
+    "Lift the sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Set the plastic lid sauce can near the round kitchenpot with handles after picking it up",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the medium-sized kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Set the cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid to the kitchenpot for boiling and cooking using the left arm",
+    "Bring the cylindrical sauce can over and set it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can using the left arm and position it by the gray kitchenpot",
+    "With the left arm, grab the sauce can and move to the dark gray stove kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the cylindrical kitchenpot",
+    "Place the sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the metal kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish to the cooking kitchenpot with side grips with the left arm",
+    "Move the yellow brown sauce can beside the round kitchenpot with handles after lifting it",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the cylindrical kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, place it by the metal kitchenpot",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the metal kitchenpot",
+    "Pick up the sauce can and put it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can, move it to the gray kitchenpot's side",
+    "Lift the white plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can and position it next to the smooth gray kitchenpot",
+    "Set the cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "Pick the hand-sized sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Set the sauce can with glossy finish right next to the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can to the smooth gray kitchenpot using the left arm",
+    "Bring the yellow brown sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and position it by the dark gray stove kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the round kitchenpot with handles",
+    "Place the yellow brown sauce can beside the metal kitchenpot after picking it up",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode27.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e96fafc18ea9d83a7aaf0187e578279ed9444da
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the white plastic lid sauce can to the gray kitchenpot",
+    "Move the sauce can with sealed top to be next to the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the round kitchenpot with handles",
+    "Place the round sauce can with yellow pattern next to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Take the white plastic lid sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish up and carefully position it beside the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot for boiling and cooking",
+    "Pick up the hand-sized sauce can and put it beside the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can and position it next to the metal kitchenpot",
+    "Take the hand-sized sauce can to the cylindrical kitchenpot using the left arm",
+    "Lift the sauce can and set it next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the smooth gray kitchenpot",
+    "Place the sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Lift the rounded-edge sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and move it near the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it beside the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the medium-sized kitchenpot",
+    "Set the round sauce can with yellow pattern near the metal kitchenpot after picking it up",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the round kitchenpot with handles",
+    "Using the left arm, lift the yellow brown sauce can and place it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray cylindrical metal kitchenpot",
+    "Move the sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium kitchenpot made of metal",
+    "Use the left arm to take the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot",
+    "Move the sauce can to be next to the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Place the hand-sized sauce can next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Move the hand-sized sauce can to the smooth gray kitchenpot with the left arm",
+    "Move the white plastic lid sauce can beside the metal kitchenpot after lifting it",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the smooth gray kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the metal kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the round kitchenpot with handles",
+    "Take the sauce can with sealed top to the medium-sized kitchenpot using the left arm",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to move the yellow brown sauce can beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Place the sauce can with glossy finish beside the round kitchenpot with handles after picking it up",
+    "Lift the sauce can with glossy finish, place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and move it near the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the dark gray stove kitchenpot",
+    "Set the plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "With the left arm, grab the plastic lid sauce can and move to the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the dark gray stove kitchenpot",
+    "Set the plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Using the left arm, lift the yellow brown sauce can and place it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode28.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f5bfaa1ceb64f53168a19a307b2e3aed895f298
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sauce can with sealed top and position it next to the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can to the gray kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top, place it by the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and set it next to the round kitchenpot with handles",
+    "Take the cylindrical sauce can with the left arm, place it near the gray kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the kitchenpot with smooth exterior",
+    "Take the sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can, move it to the metal kitchenpot's side",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the kitchenpot with smooth exterior",
+    "Bring the medium sauce can with white lid over and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the round kitchenpot with handles",
+    "Take the yellow brown sauce can to the gray kitchenpot using the left arm",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Set the hand-sized sauce can right next to the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and move it near the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Place the round sauce can with yellow pattern beside the smooth gray kitchenpot after picking it up",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the round kitchenpot with handles",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the gray kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Using the left arm, lift the sauce can with sealed top and place it by the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern to the smooth gray kitchenpot with the left arm",
+    "Lift the white plastic lid sauce can and set it beside the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Place the yellow brown sauce can next to the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the metal kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the dark gray stove kitchenpot after picking it up",
+    "Pick the round sauce can with yellow pattern and position it next to the medium-sized kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the gray kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the round kitchenpot with handles",
+    "Take the sauce can with glossy finish using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Pick the sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the metal kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the cylindrical kitchenpot",
+    "Take the rounded-edge sauce can to the cylindrical kitchenpot using the left arm",
+    "Lift the sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Set the round sauce can with yellow pattern right next to the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and move it near the gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Place the cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
+    "Pick up the sauce can with glossy finish and put it beside the gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the metal kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Move the cylindrical sauce can beside the round kitchenpot with handles after lifting it",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the metal kitchenpot",
+    "Move the cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Lift the yellow brown sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it near the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can to be next to the medium-sized kitchenpot",
+    "Place the sauce can with glossy finish next to the round kitchenpot with handles",
+    "Pick the hand-sized sauce can up and move it next to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Pick up the cylindrical sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the round kitchenpot with handles",
+    "Set the brown and yellow cylindrical sauce can near the round kitchenpot with handles after picking it up"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode29.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8f1d0a76614ea94c0932757ef6d0b738080de0a
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the dark gray stove kitchenpot",
+    "Pick the sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Set the plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the gray kitchenpot",
+    "Place the white plastic lid sauce can next to the gray kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with sealed top beside the cooking kitchenpot with side grips after picking it up",
+    "Pick the rounded-edge sauce can up and carefully position it beside the metal kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can up and set it beside the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can and place it by the cooking kitchenpot with side grips",
+    "Grab the sauce can, move it to the metal kitchenpot's side",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the gray kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the gray kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and move it near the round kitchenpot with handles",
+    "Move the medium sauce can with white lid to be next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the cylindrical kitchenpot",
+    "Set the medium sauce can with white lid right next to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can and position it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to lift the yellow brown sauce can and place it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the round kitchenpot with handles",
+    "Take the sauce can with sealed top to the round kitchenpot with handles using the left arm",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to the cylindrical kitchenpot with the left arm",
+    "Move the rounded-edge sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the round kitchenpot with handles after lifting it",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Set the sauce can with sealed top near the dark gray stove kitchenpot after picking it up",
+    "Lift the sauce can with sealed top, place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Place the sauce can with glossy finish next to the smooth gray kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the gray kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the kitchenpot for boiling and cooking",
+    "Place the hand-sized sauce can beside the round kitchenpot with handles after picking it up",
+    "Pick the white plastic lid sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the dark gray stove kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Bring the medium sauce can with white lid over and set it near the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the metal kitchenpot's side",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the metal kitchenpot",
+    "Move the cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to take the sauce can with sealed top to the gray kitchenpot",
+    "Set the plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the plastic lid sauce can beside the smooth gray kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the round kitchenpot with handles",
+    "Take the cylindrical sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the metal kitchenpot",
+    "Take the rounded-edge sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish beside the metal kitchenpot after lifting it"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode3.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..e665b68edf5905a0492e5417c34eab8d9bddff2d
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown and yellow cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
+    "Place the hand-sized sauce can next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the round kitchenpot with handles",
+    "Pick up the round sauce can with yellow pattern and put it beside the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up with the left arm then place near the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray kitchenpot",
+    "Take the sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Lift the sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the cooking kitchenpot with side grips",
+    "Set the sauce can with glossy finish right next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Place the plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Take the white plastic lid sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Grab the hand-sized sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the gray kitchenpot",
+    "Lift the cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern, move it to the gray cylindrical metal kitchenpot's side",
+    "Grab the medium sauce can with white lid, move it, and place by the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the dark gray stove kitchenpot",
+    "Move the rounded-edge sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Bring the white plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "With the left arm, grab the white plastic lid sauce can and move to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to take the cylindrical sauce can to the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the smooth gray kitchenpot",
+    "Place the rounded-edge sauce can next to the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Move the sauce can with glossy finish to the gray kitchenpot with the left arm",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the cooking kitchenpot with side grips",
+    "Pick up the rounded-edge sauce can and put it beside the metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Set the sauce can with glossy finish near the smooth gray kitchenpot after picking it up",
+    "Using the left arm, lift the sauce can and place it by the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the medium-sized kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the medium-sized kitchenpot",
+    "Set the sauce can with glossy finish right next to the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Place the round sauce can with yellow pattern beside the gray cylindrical metal kitchenpot after picking it up",
+    "Take the white plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Grab the sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the medium-sized kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the metal kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the metal kitchenpot",
+    "Grab the cylindrical sauce can, move it to the cylindrical kitchenpot's side",
+    "Grab the yellow brown sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Take the white plastic lid sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it beside the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with sealed top, position it near the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can, move it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Bring the white plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "With the left arm, grab the cylindrical sauce can and move to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode30.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6ce04de03830247a50791f1b0aaf7e9e91c2db
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to move the plastic lid sauce can beside the smooth gray kitchenpot",
+    "Set the sauce can with glossy finish near the smooth gray kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cooking kitchenpot with side grips",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern and move it close to the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish, place it by the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Use the left arm to take the medium sauce can with white lid to the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid with the left arm, place it near the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and move it near the metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the gray kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Set the hand-sized sauce can right next to the smooth gray kitchenpot",
+    "Move the yellow brown sauce can to be next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can with sealed top and move to the cooking kitchenpot with side grips",
+    "Pick the sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Take the white plastic lid sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can to the cylindrical kitchenpot using the left arm",
+    "Grab the white plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "Lift the medium sauce can with white lid, then place it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the round kitchenpot with handles",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the round kitchenpot with handles",
+    "Place the hand-sized sauce can next to the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid beside the round kitchenpot with handles after lifting it",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with handles",
+    "Set the white plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the cylindrical sauce can, move it, and place by the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the kitchenpot for boiling and cooking",
+    "Bring the sauce can with glossy finish over and set it near the round kitchenpot with handles",
+    "Grab the sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, place it by the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to take the plastic lid sauce can to the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the metal kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the metal kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium-sized kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium kitchenpot made of metal",
+    "Place the yellow brown sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Set the sauce can with glossy finish right next to the cylindrical kitchenpot",
+    "Move the plastic lid sauce can to be next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can and move to the round kitchenpot with handles",
+    "Pick the sauce can with sealed top up and move it next to the round kitchenpot with handles",
+    "Grab the cylindrical sauce can, shift it, and place it close to the metal kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the gray kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Grab the rounded-edge sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the medium-sized kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can to the medium kitchenpot made of metal with the left arm",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to pick the sauce can, position it near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode31.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbf47b267b9ddb0452dfa4ee9f4e17b20531557
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the cylindrical kitchenpot",
+    "Move the plastic lid sauce can to the gray kitchenpot with the left arm",
+    "Grab the medium sauce can with white lid, move it, and place by the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the gray kitchenpot",
+    "Move the yellow brown sauce can to be next to the smooth gray kitchenpot",
+    "Lift the sauce can, then place it next to the medium kitchenpot made of metal",
+    "Set the medium sauce can with white lid right next to the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the dark gray stove kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the cylindrical kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Lift the hand-sized sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Set the hand-sized sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cooking kitchenpot with side grips",
+    "Pick up the cylindrical sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Move the sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Bring the plastic lid sauce can over and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to take the cylindrical sauce can to the cylindrical kitchenpot",
+    "Place the yellow brown sauce can next to the gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the gray kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray kitchenpot",
+    "Lift the hand-sized sauce can and move it near the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the gray kitchenpot",
+    "Move the white plastic lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Lift the hand-sized sauce can and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can, move it to the dark gray stove kitchenpot's side",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish and position it next to the round kitchenpot with handles",
+    "Take the sauce can with sealed top with the left arm, place it near the medium-sized kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can, place it by the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot with the left arm",
+    "Grab the rounded-edge sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Set the rounded-edge sauce can right next to the round kitchenpot with handles",
+    "Pick the sauce can with sealed top up and carefully position it beside the round kitchenpot with handles",
+    "Take the sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and move it beside the dark gray stove kitchenpot",
+    "Place the sauce can beside the gray kitchenpot after picking it up",
+    "Take the yellow brown sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can near the medium kitchenpot made of metal after picking it up",
+    "Lift the medium sauce can with white lid using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to move the cylindrical sauce can beside the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can and move it close to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the gray kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the gray kitchenpot",
+    "Place the round sauce can with yellow pattern next to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and move it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up with the left arm then place near the gray kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the gray kitchenpot",
+    "Move the white plastic lid sauce can beside the gray kitchenpot after lifting it",
+    "Lift the round sauce can with yellow pattern and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can, move it to the round kitchenpot with handles's side",
+    "Grab the sauce can with the left arm and position it beside the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the metal kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode32.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c78e89e4dd31b5be73d7e80f8f4e4a6995ddd4
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it beside the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Lift the plastic lid sauce can and place it next to the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to be next to the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to the metal kitchenpot with the left arm",
+    "Set the sauce can with sealed top right next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the round kitchenpot with handles",
+    "Place the hand-sized sauce can next to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the cooking kitchenpot with side grips",
+    "Place the sauce can beside the medium-sized kitchenpot after picking it up",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top to the round kitchenpot with handles using the left arm",
+    "Take the medium sauce can with white lid with the left arm, place it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with sealed top and place it by the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top, place it by the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can and position it next to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to lift the sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Bring the round sauce can with yellow pattern over and set it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the sauce can with sealed top beside the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to take the sauce can to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cooking kitchenpot with side grips",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the smooth gray kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and move it near the cooking kitchenpot with side grips",
+    "Set the hand-sized sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern and place it next to the gray kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the cylindrical kitchenpot with the left arm",
+    "Set the plastic lid sauce can right next to the round kitchenpot with handles",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the dark gray stove kitchenpot",
+    "Place the sauce can with glossy finish next to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Place the sauce can with glossy finish beside the smooth gray kitchenpot after picking it up",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can to the metal kitchenpot using the left arm",
+    "Take the cylindrical sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the dark gray stove kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Pick the sauce can with glossy finish and position it next to the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to lift the hand-sized sauce can and place it near the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the medium-sized kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Move the medium sauce can with white lid from its spot to near the gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode33.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..34615a5142b693fbcbfdd2e9df71fadca9b57600
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white plastic lid sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to lift the yellow brown sauce can and place it near the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Bring the sauce can over and set it near the smooth gray kitchenpot",
+    "Grab the sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can and position it next to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the cylindrical kitchenpot",
+    "Move the sauce can with sealed top beside the cooking kitchenpot with side grips after lifting it",
+    "Lift the medium sauce can with white lid and set it next to the dark gray stove kitchenpot",
+    "Move the cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Move the sauce can with glossy finish to be next to the round kitchenpot with handles",
+    "Set the cylindrical sauce can near the medium kitchenpot made of metal after picking it up",
+    "Lift the plastic lid sauce can, place it by the gray kitchenpot",
+    "Place the cylindrical sauce can next to the gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the cylindrical sauce can and place it by the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish using the left arm and position it by the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Set the white plastic lid sauce can right next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top from its spot to near the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can to the medium kitchenpot made of metal using the left arm",
+    "Lift the medium sauce can with white lid and place it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Take the sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the gray kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the smooth gray kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Bring the round sauce can with yellow pattern over and set it near the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish and position it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Lift the sauce can and set it next to the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish to the kitchenpot with smooth exterior with the left arm",
+    "Move the round sauce can with yellow pattern to be next to the dark gray stove kitchenpot",
+    "Set the rounded-edge sauce can near the cylindrical kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can, place it by the round kitchenpot with handles",
+    "Place the medium sauce can with white lid next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the round kitchenpot with handles",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the round kitchenpot with handles",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can from its spot to near the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish to the dark gray stove kitchenpot using the left arm",
+    "Lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode34.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d759c3ad0128c45b7b2f188d988d76ebf065ad5e
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow brown sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Set the cylindrical sauce can right next to the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and place it next to the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Pick up the rounded-edge sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Set the brown and yellow cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Using the left arm, lift the cylindrical sauce can and place it by the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can, move it to the dark gray stove kitchenpot's side",
+    "Lift the sauce can with sealed top, place it by the kitchenpot with smooth exterior",
+    "Lift the sauce can and move it near the metal kitchenpot",
+    "Move the cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the kitchenpot with smooth exterior",
+    "Pick the yellow brown sauce can and position it next to the gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up and carefully position it beside the round kitchenpot with handles",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cylindrical kitchenpot",
+    "Place the rounded-edge sauce can beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Lift the sauce can using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to take the sauce can to the cylindrical kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Bring the sauce can over and set it near the cooking kitchenpot with side grips",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern up and move it next to the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid from its spot to near the gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Set the sauce can right next to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Pick up the sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the smooth gray kitchenpot",
+    "Take the cylindrical sauce can to the round kitchenpot with handles using the left arm",
+    "Set the medium sauce can with white lid near the kitchenpot with smooth exterior after picking it up",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it to the round kitchenpot with handles's side",
+    "Lift the sauce can with sealed top, place it by the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can to be next to the gray kitchenpot",
+    "Move the sauce can with sealed top beside the smooth gray kitchenpot after lifting it",
+    "Lift the plastic lid sauce can and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the kitchenpot for boiling and cooking",
+    "Place the sauce can with sealed top beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the metal kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Bring the yellow brown sauce can over and set it near the gray kitchenpot",
+    "Place the plastic lid sauce can next to the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can from its spot to near the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode35.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..3327852ceb6e45b9e7441e2d3458bf9a7da5d424
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium-sized kitchenpot",
+    "Using the left arm, lift the sauce can with sealed top and place it by the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the medium-sized kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid from its spot to near the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the medium-sized kitchenpot's side",
+    "Bring the cylindrical sauce can over and set it near the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Place the round sauce can with yellow pattern beside the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cooking kitchenpot with side grips",
+    "Set the cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Move the round sauce can with yellow pattern to the metal kitchenpot with the left arm",
+    "Lift the sauce can with sealed top, then place it next to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top with the left arm and set by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the gray kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the kitchenpot for boiling and cooking",
+    "With the left arm, grab the medium sauce can with white lid and move to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and move it near the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Place the hand-sized sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Set the sauce can near the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top from its spot to near the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Bring the cylindrical sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Place the sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Set the yellow brown sauce can right next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to the round kitchenpot with handles with the left arm",
+    "Lift the sauce can with glossy finish, then place it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the medium-sized kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the medium-sized kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the metal kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the gray kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Move the yellow brown sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Grab the sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the smooth gray kitchenpot",
+    "Move the sauce can with glossy finish beside the cylindrical kitchenpot after lifting it",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode36.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf143621a0af7ae548da928708fc3d133eb99e7
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium kitchenpot made of metal's side",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the metal kitchenpot",
+    "Set the sauce can with sealed top right next to the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the round kitchenpot with handles",
+    "Bring the sauce can with sealed top over and set it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up and move it next to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the hand-sized sauce can beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray kitchenpot",
+    "Move the cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the gray kitchenpot",
+    "Place the white plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern and move it close to the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the metal kitchenpot",
+    "Move the yellow brown sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Lift the sauce can and move it near the medium kitchenpot made of metal",
+    "Place the sauce can beside the round kitchenpot with handles after picking it up",
+    "Take the plastic lid sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Lift the hand-sized sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can, place it by the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the round kitchenpot with handles",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the gray kitchenpot after picking it up",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can up and set it beside the dark gray stove kitchenpot",
+    "Move the rounded-edge sauce can to be next to the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it to the medium-sized kitchenpot's side",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the kitchenpot for boiling and cooking",
+    "Pick up the medium sauce can with white lid and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Grab the sauce can with the left arm and position it beside the gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can and position it next to the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium-sized kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the smooth gray kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the round kitchenpot with handles",
+    "Take the white plastic lid sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and set it beside the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the metal kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can beside the gray kitchenpot after lifting it",
+    "Lift the sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and place it next to the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the medium kitchenpot made of metal with the left arm",
+    "Lift the yellow brown sauce can and move it near the smooth gray kitchenpot",
+    "Place the hand-sized sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Take the rounded-edge sauce can to the medium-sized kitchenpot using the left arm",
+    "Lift the plastic lid sauce can and set it next to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the cooking kitchenpot with side grips",
+    "Pick the sauce can up with the left arm then place near the gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Set the yellow brown sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode37.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b48ed2a1432de825cd24faea97f98f07d95a3e4
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the sauce can with sealed top with the left arm and position it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern, then place it next to the round kitchenpot with handles",
+    "Place the medium sauce can with white lid next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Take the rounded-edge sauce can to the gray kitchenpot using the left arm",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Take the rounded-edge sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the cylindrical kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Grab the sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can and place it near the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, place it by the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Set the plastic lid sauce can near the smooth gray kitchenpot after picking it up",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can to the metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the gray kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Move the round sauce can with yellow pattern from its spot to near the gray kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cylindrical kitchenpot",
+    "Place the sauce can beside the round kitchenpot with handles after picking it up",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the round kitchenpot with handles",
+    "With the left arm, grab the sauce can and move to the kitchenpot for boiling and cooking",
+    "Move the medium sauce can with white lid to be next to the round kitchenpot with handles",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Pick the sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the hand-sized sauce can beside the smooth gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Place the cylindrical sauce can next to the gray kitchenpot",
+    "Pick the sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Take the round sauce can with yellow pattern to the cooking kitchenpot with side grips using the left arm",
+    "Pick up the hand-sized sauce can with the left arm and set by the round kitchenpot with handles",
+    "Take the hand-sized sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid, move it, and place by the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the gray cylindrical metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can right next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it next to the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern and put it beside the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the smooth gray kitchenpot",
+    "Set the round sauce can with yellow pattern near the dark gray stove kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the medium sauce can with white lid to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Lift the plastic lid sauce can and move it near the gray kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the metal kitchenpot",
+    "Move the medium sauce can with white lid to the kitchenpot for boiling and cooking with the left arm",
+    "Move the sauce can with glossy finish beside the round kitchenpot with handles after lifting it",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the medium kitchenpot made of metal",
+    "Grab the sauce can, move it to the round kitchenpot with handles's side",
+    "Move the rounded-edge sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the sauce can with sealed top and place it by the medium kitchenpot made of metal",
+    "Place the plastic lid sauce can beside the gray kitchenpot after picking it up",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the medium kitchenpot made of metal",
+    "With the left arm, grab the yellow brown sauce can and move to the gray kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the metal kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode38.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..b77c38d954f28af380cf35b169dc5d8e0fcb2c53
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the medium kitchenpot made of metal",
+    "Pick up the sauce can with sealed top with the left arm and set by the round kitchenpot with handles",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the smooth gray kitchenpot",
+    "Lift the sauce can and move it near the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the medium-sized kitchenpot",
+    "Take the cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the kitchenpot with smooth exterior",
+    "Set the round sauce can with yellow pattern near the medium kitchenpot made of metal after picking it up",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Place the white plastic lid sauce can next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can to be next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray kitchenpot",
+    "Lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can, place it by the medium kitchenpot made of metal",
+    "Grab the sauce can, move it to the medium-sized kitchenpot's side",
+    "Move the medium sauce can with white lid beside the round kitchenpot with handles after lifting it",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the hand-sized sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to take the yellow brown sauce can to the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can, position it near the smooth gray kitchenpot",
+    "Place the sauce can beside the cylindrical kitchenpot after picking it up",
+    "Pick up the round sauce can with yellow pattern and put it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to the gray kitchenpot with the left arm",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Bring the sauce can with sealed top over and set it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can and move to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Move the rounded-edge sauce can from its spot to near the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Set the rounded-edge sauce can right next to the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the plastic lid sauce can beside the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the gray kitchenpot",
+    "Take the sauce can with glossy finish to the medium-sized kitchenpot using the left arm",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the medium-sized kitchenpot",
+    "Set the hand-sized sauce can near the medium kitchenpot made of metal after picking it up",
+    "Pick the sauce can with glossy finish up with the left arm then place near the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish using the left arm, set it next to the round kitchenpot with handles",
+    "Place the rounded-edge sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can with sealed top to be next to the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium-sized kitchenpot",
+    "Lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can, place it by the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Move the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Grab the cylindrical sauce can with the left arm and move it close to the gray kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the round kitchenpot with handles",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can, position it near the gray kitchenpot",
+    "Place the rounded-edge sauce can beside the round kitchenpot with handles after picking it up",
+    "Pick up the cylindrical sauce can and put it beside the round kitchenpot with handles",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Grab the sauce can with sealed top with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Bring the white plastic lid sauce can over and set it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the rounded-edge sauce can and move to the medium kitchenpot made of metal",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode39.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b247dad4e601d885da2c300fd98b61d62dcc72f
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the sauce can with sealed top right next to the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with sealed top and move to the dark gray stove kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up and move it next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot with smooth exterior",
+    "Move the cylindrical sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern, place it by the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish up with the left arm then place near the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the metal kitchenpot",
+    "Use the left arm to move the sauce can beside the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can and move it near the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and position it beside the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick up the sauce can with sealed top with the left arm and set by the gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Move the yellow brown sauce can from its spot to near the metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Pick the sauce can up and carefully position it beside the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Place the sauce can beside the gray kitchenpot after picking it up",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the gray kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Set the plastic lid sauce can near the dark gray stove kitchenpot after picking it up",
+    "Pick up the rounded-edge sauce can and put it beside the metal kitchenpot",
+    "Take the sauce can with sealed top to the dark gray stove kitchenpot using the left arm",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Place the brown and yellow cylindrical sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the sauce can with sealed top and place it by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the gray kitchenpot",
+    "Set the white plastic lid sauce can right next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the metal kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the medium-sized kitchenpot",
+    "Pick the sauce can up and move it next to the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can, place it by the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can and position it next to the metal kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and move it near the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the medium-sized kitchenpot",
+    "Move the hand-sized sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Move the plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Place the medium sauce can with white lid beside the gray cylindrical metal kitchenpot after picking it up",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot for boiling and cooking",
+    "Set the plastic lid sauce can near the gray kitchenpot after picking it up",
+    "Pick up the medium sauce can with white lid and put it beside the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Place the rounded-edge sauce can next to the round kitchenpot with handles",
+    "Use the left arm to take the hand-sized sauce can to the cylindrical kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot for boiling and cooking",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode4.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b478df2439f28efaaa528a5745addffb7f43daf
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Set the rounded-edge sauce can right next to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the metal kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern beside the kitchenpot for boiling and cooking after lifting it",
+    "Pick up the plastic lid sauce can and put it beside the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, place it by the metal kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the dark gray stove kitchenpot",
+    "Place the cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid and move it near the smooth gray kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to be next to the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the yellow brown sauce can and place it near the dark gray stove kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the gray kitchenpot",
+    "Take the yellow brown sauce can to the metal kitchenpot using the left arm",
+    "Take the white plastic lid sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the gray kitchenpot",
+    "Set the sauce can with sealed top near the smooth gray kitchenpot after picking it up",
+    "Grab the sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the cylindrical kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot for boiling and cooking",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the metal kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the smooth gray kitchenpot",
+    "Move the sauce can with glossy finish to the medium-sized kitchenpot with the left arm",
+    "Pick the rounded-edge sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the smooth gray kitchenpot",
+    "Place the hand-sized sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the round kitchenpot with handles",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the sauce can, move it, and place by the metal kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, move it to the round kitchenpot with handles's side",
+    "Lift the sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the medium kitchenpot made of metal",
+    "Bring the white plastic lid sauce can over and set it near the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can using the left arm and position it by the metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern beside the metal kitchenpot after lifting it",
+    "Pick up the sauce can and put it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and set it next to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Place the brown and yellow cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Lift the plastic lid sauce can and move it near the metal kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the cooking kitchenpot with side grips",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and place it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the medium-sized kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the medium-sized kitchenpot",
+    "Set the sauce can with sealed top near the round kitchenpot with handles after picking it up",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium kitchenpot made of metal with the left arm",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the gray kitchenpot",
+    "Place the yellow brown sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, move it, and place by the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode40.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f321596578829a87c3c37eec10b1c0b1567b45
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the gray kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cylindrical kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid beside the dark gray stove kitchenpot after lifting it",
+    "Pick up the medium sauce can with white lid with the left arm and set by the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Set the plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Grab the sauce can with sealed top, move it to the cylindrical kitchenpot's side",
+    "Move the white plastic lid sauce can to the gray kitchenpot with the left arm",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the sauce can and move it near the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid, place it by the metal kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can and move to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can to the medium kitchenpot made of metal using the left arm",
+    "Place the round sauce can with yellow pattern next to the metal kitchenpot",
+    "Set the white plastic lid sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Move the yellow brown sauce can to be next to the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up and move it next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the smooth gray kitchenpot",
+    "Lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cooking kitchenpot with side grips",
+    "Take the sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the yellow brown sauce can, position it near the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it beside the metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it, and place by the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Pick the medium sauce can with white lid and position it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the metal kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Set the sauce can with glossy finish right next to the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid beside the kitchenpot with smooth exterior after picking it up",
+    "Grab the sauce can with sealed top, move it to the cooking kitchenpot with side grips's side",
+    "Move the sauce can with sealed top to the cylindrical kitchenpot with the left arm",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the metal kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top from its spot to near the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, place it by the gray kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and carefully position it beside the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Place the medium sauce can with white lid next to the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Move the brown and yellow cylindrical sauce can to be next to the smooth gray kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and move it next to the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode41.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9518e7b2ed62960393a3a2d2de4baee8adff0bd
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sauce can with sealed top up and carefully position it beside the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the medium kitchenpot made of metal after picking it up",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Place the yellow brown sauce can next to the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, move it to the kitchenpot for boiling and cooking's side",
+    "Move the brown and yellow cylindrical sauce can to the cylindrical kitchenpot with the left arm",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the metal kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern and put it beside the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the hand-sized sauce can, then place it next to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it near the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cylindrical kitchenpot",
+    "Set the sauce can right next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Pick up the rounded-edge sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the dark gray stove kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top from its spot to near the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Use the left arm to pick the cylindrical sauce can, position it near the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Place the round sauce can with yellow pattern beside the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to take the cylindrical sauce can to the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot",
+    "Move the plastic lid sauce can to be next to the metal kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Set the sauce can with sealed top near the dark gray stove kitchenpot after picking it up",
+    "Take the sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Place the hand-sized sauce can next to the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can, move it to the cylindrical kitchenpot's side",
+    "Move the sauce can with sealed top to the cooking kitchenpot with side grips with the left arm",
+    "Grab the cylindrical sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the white plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can, place it by the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish beside the metal kitchenpot after lifting it",
+    "Lift the white plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the cylindrical kitchenpot",
+    "Lift the sauce can and move it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can and position it next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the cylindrical kitchenpot",
+    "Set the rounded-edge sauce can right next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick up the white plastic lid sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium-sized kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the metal kitchenpot",
+    "Take the cylindrical sauce can to the cylindrical kitchenpot using the left arm",
+    "Use the left arm to pick the cylindrical sauce can, position it near the metal kitchenpot",
+    "Grab the sauce can and move it close to the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Place the yellow brown sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to take the sauce can with glossy finish to the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to move the yellow brown sauce can beside the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish to be next to the smooth gray kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode42.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..4334590aa1c090377a112a324be75b9a89f49fb9
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid beside the kitchenpot with smooth exterior after picking it up",
+    "Pick up the hand-sized sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Place the yellow brown sauce can next to the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to the smooth gray kitchenpot with the left arm",
+    "Grab the yellow brown sauce can and move it close to the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can beside the cylindrical kitchenpot after lifting it",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish to the cooking kitchenpot with side grips using the left arm",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can and place it next to the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top, move it to the cylindrical kitchenpot's side",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the metal kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can to be next to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the gray kitchenpot",
+    "Set the plastic lid sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the sauce can with glossy finish, place it by the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and set it beside the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the medium-sized kitchenpot",
+    "Set the sauce can with sealed top right next to the medium-sized kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with sealed top and put it beside the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid and position it next to the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Using the left arm, lift the yellow brown sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Bring the sauce can with sealed top over and set it near the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can, move it, and place by the round kitchenpot with handles",
+    "Place the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot after picking it up",
+    "Pick up the sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Place the plastic lid sauce can next to the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to the round kitchenpot with handles with the left arm",
+    "Grab the hand-sized sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the smooth gray kitchenpot",
+    "Move the plastic lid sauce can beside the metal kitchenpot after lifting it",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can to the medium-sized kitchenpot using the left arm",
+    "Use the left arm to lift the plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top with the left arm and move it close to the metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to take the plastic lid sauce can to the dark gray stove kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can from its spot to near the cylindrical kitchenpot",
+    "Set the sauce can with sealed top near the smooth gray kitchenpot after picking it up",
+    "Lift the plastic lid sauce can, place it by the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it beside the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "Set the white plastic lid sauce can right next to the medium-sized kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the medium-sized kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to move the cylindrical sauce can beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal kitchenpot"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode43.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab4fe30813e789875af7d0c362ab95651f28d127
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the yellow brown sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern to the medium kitchenpot made of metal using the left arm",
+    "Lift the sauce can and move it near the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the metal kitchenpot",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Lift the white plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Take the sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot with smooth exterior",
+    "Grab the sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the gray kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the round sauce can with yellow pattern, then place it next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the medium kitchenpot made of metal after picking it up",
+    "Place the medium sauce can with white lid beside the medium kitchenpot made of metal after picking it up",
+    "Grab the cylindrical sauce can and move it close to the round kitchenpot with handles",
+    "Using the left arm, lift the hand-sized sauce can and place it by the metal kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can right next to the medium-sized kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Place the round sauce can with yellow pattern next to the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to move the sauce can beside the metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Lift the rounded-edge sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the gray kitchenpot with the left arm",
+    "Lift the hand-sized sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the metal kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the metal kitchenpot",
+    "Bring the sauce can over and set it near the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can beside the round kitchenpot with handles after lifting it",
+    "Lift the rounded-edge sauce can, then place it next to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish and position it next to the cooking kitchenpot with side grips",
+    "Set the yellow brown sauce can near the gray kitchenpot after picking it up",
+    "Place the sauce can with glossy finish beside the gray kitchenpot after picking it up",
+    "Grab the sauce can and move it close to the metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to be next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Set the sauce can with sealed top right next to the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Place the brown and yellow cylindrical sauce can next to the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to move the white plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Take the sauce can using the left arm, set it next to the metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode44.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a769c9804dc268826664e140a3ba6b8c34f43e0
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the white plastic lid sauce can, place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can with glossy finish beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the round kitchenpot with handles",
+    "Place the plastic lid sauce can next to the dark gray stove kitchenpot",
+    "Set the sauce can with sealed top right next to the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can to the medium-sized kitchenpot using the left arm",
+    "Move the sauce can with glossy finish to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to pick the plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the dark gray stove kitchenpot's side",
+    "Bring the plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish and move it close to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Lift the yellow brown sauce can and set it next to the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can and position it next to the gray kitchenpot",
+    "Lift the sauce can and set it next to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, then place it next to the medium-sized kitchenpot",
+    "Set the cylindrical sauce can near the dark gray stove kitchenpot after picking it up",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the metal kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Use the left arm to take the white plastic lid sauce can to the round kitchenpot with handles",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium-sized kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the cylindrical kitchenpot",
+    "Move the yellow brown sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Lift the medium sauce can with white lid, place it by the cylindrical kitchenpot",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can, then move it next to the gray kitchenpot",
+    "Place the sauce can next to the gray kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the gray kitchenpot",
+    "Take the hand-sized sauce can to the cylindrical kitchenpot using the left arm",
+    "Move the white plastic lid sauce can to the medium-sized kitchenpot with the left arm",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the cylindrical kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Bring the white plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the smooth gray kitchenpot",
+    "Place the rounded-edge sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium-sized kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Set the cylindrical sauce can near the round kitchenpot with handles after picking it up",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and place it next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid up with the left arm then place near the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the metal kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the yellow brown sauce can and place it near the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode45.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..be71cf3f5f2f1613614e374353d84e510075e1af
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the brown and yellow cylindrical sauce can, move it to the round kitchenpot with handles's side",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the gray kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can and transfer it near the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Place the cylindrical sauce can beside the medium-sized kitchenpot after picking it up",
+    "Grab the medium sauce can with white lid, move it, and place by the gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can to be next to the medium-sized kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the medium-sized kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top and move it close to the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the round kitchenpot with handles",
+    "Lift the sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the cooking kitchenpot with side grips",
+    "Set the medium sauce can with white lid near the dark gray stove kitchenpot after picking it up",
+    "Move the sauce can beside the cylindrical kitchenpot after lifting it",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up and move it next to the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Take the yellow brown sauce can with the left arm, place it near the gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the medium-sized kitchenpot",
+    "Place the sauce can with glossy finish next to the metal kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can, then place it next to the dark gray stove kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick up the hand-sized sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top to the metal kitchenpot using the left arm",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the medium-sized kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the metal kitchenpot",
+    "Place the sauce can with sealed top beside the kitchenpot for boiling and cooking after picking it up",
+    "Grab the sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to be next to the gray kitchenpot",
+    "Bring the sauce can over and set it near the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can and move it close to the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can and move to the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the dark gray stove kitchenpot",
+    "Lift the sauce can and move it near the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cooking kitchenpot with side grips",
+    "Set the round sauce can with yellow pattern near the kitchenpot for boiling and cooking after picking it up",
+    "Move the yellow brown sauce can beside the medium-sized kitchenpot after lifting it",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Take the sauce can with glossy finish using the left arm, set it next to the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick the hand-sized sauce can up and move it next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can to the dark gray stove kitchenpot with the left arm",
+    "Lift the medium sauce can with white lid using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the round kitchenpot with handles",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Take the yellow brown sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Place the sauce can with sealed top next to the gray kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the metal kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Set the sauce can with sealed top right next to the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can to the smooth gray kitchenpot using the left arm",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode46.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f919606fb4e259bd1cca6a7496c8e2c15e2640
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the hand-sized sauce can to the metal kitchenpot with the left arm",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the round kitchenpot with handles",
+    "Take the sauce can with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it beside the metal kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid to the dark gray stove kitchenpot using the left arm",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot for boiling and cooking",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Move the sauce can with sealed top beside the gray cylindrical metal kitchenpot after lifting it",
+    "Pick the hand-sized sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Set the white plastic lid sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the smooth gray kitchenpot",
+    "Place the yellow brown sauce can next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the rounded-edge sauce can and put it beside the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the cooking kitchenpot with side grips",
+    "Place the medium sauce can with white lid beside the gray cylindrical metal kitchenpot after picking it up",
+    "Set the sauce can with glossy finish right next to the gray kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, move it to the kitchenpot with smooth exterior's side",
+    "Move the plastic lid sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the cylindrical kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the hand-sized sauce can beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the kitchenpot with smooth exterior",
+    "Take the rounded-edge sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up with the left arm then place near the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it, and place by the smooth gray kitchenpot",
+    "Take the sauce can to the gray kitchenpot using the left arm",
+    "Use the left arm to pick the sauce can with sealed top, position it near the gray cylindrical metal kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Move the yellow brown sauce can beside the cylindrical kitchenpot after lifting it",
+    "Pick the sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Set the yellow brown sauce can near the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the yellow brown sauce can to the medium kitchenpot made of metal",
+    "Place the hand-sized sauce can next to the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray kitchenpot",
+    "Lift the sauce can and place it next to the round kitchenpot with handles",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the metal kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the gray kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the kitchenpot for boiling and cooking",
+    "Place the sauce can with glossy finish beside the dark gray stove kitchenpot after picking it up",
+    "Set the cylindrical sauce can right next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish, then place it next to the round kitchenpot with handles",
+    "With the left arm, grab the sauce can and move to the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray kitchenpot",
+    "Grab the yellow brown sauce can, move it to the dark gray stove kitchenpot's side",
+    "Move the plastic lid sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Lift the sauce can, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top up and carefully position it beside the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode47.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa267b2d67722b8fed32767236b196c41741e884
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid right next to the kitchenpot with smooth exterior",
+    "Bring the yellow brown sauce can over and set it near the metal kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and move it near the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish to the medium-sized kitchenpot with the left arm",
+    "Move the yellow brown sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can, position it near the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, then place it next to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the metal kitchenpot",
+    "Lift the sauce can with sealed top, place it by the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up and move it next to the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish beside the metal kitchenpot after lifting it",
+    "Grab the hand-sized sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the gray kitchenpot",
+    "Set the medium sauce can with white lid near the round kitchenpot with handles after picking it up",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the kitchenpot for boiling and cooking",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can and position it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Take the sauce can to the dark gray stove kitchenpot using the left arm",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "With the left arm, grab the yellow brown sauce can and move to the kitchenpot with smooth exterior",
+    "Place the cylindrical sauce can next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid to be next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with the left arm and set by the metal kitchenpot",
+    "Set the yellow brown sauce can right next to the medium-sized kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the smooth gray kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can to the smooth gray kitchenpot with the left arm",
+    "Move the hand-sized sauce can from its spot to near the metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it beside the cooking kitchenpot with side grips",
+    "Place the sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Grab the round sauce can with yellow pattern and move it close to the gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top, place it by the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and move it next to the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot with smooth exterior",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Grab the round sauce can with yellow pattern, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the gray cylindrical metal kitchenpot",
+    "Set the plastic lid sauce can near the smooth gray kitchenpot after picking it up",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round kitchenpot with handles",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick the white plastic lid sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top and place it next to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Place the medium sauce can with white lid next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the plastic lid sauce can beside the dark gray stove kitchenpot",
+    "Move the sauce can to be next to the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode48.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b4017cfc893128299ba8a7b278fd432d225e80
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can, then place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the smooth gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the medium kitchenpot made of metal after picking it up",
+    "Pick the sauce can with glossy finish and position it next to the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can to the gray kitchenpot using the left arm",
+    "Grab the hand-sized sauce can and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish and put it beside the gray kitchenpot",
+    "Set the sauce can right next to the gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the round kitchenpot with handles",
+    "Move the white plastic lid sauce can to be next to the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Pick the yellow brown sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Place the sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Move the white plastic lid sauce can to the gray kitchenpot with the left arm",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with sealed top, position it near the medium-sized kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can beside the gray kitchenpot after lifting it",
+    "Place the round sauce can with yellow pattern next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and move it near the medium-sized kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium kitchenpot made of metal",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish from its spot to near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the cylindrical kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the gray kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the gray kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Set the rounded-edge sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top to the cooking kitchenpot with side grips using the left arm",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to move the rounded-edge sauce can beside the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the dark gray stove kitchenpot",
+    "Set the medium sauce can with white lid right next to the round kitchenpot with handles",
+    "Pick up the sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it beside the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and place it next to the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot with smooth exterior",
+    "Pick the yellow brown sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Grab the sauce can with sealed top with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid beside the medium-sized kitchenpot after lifting it",
+    "Place the cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and move it near the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Grab the plastic lid sauce can, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode49.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..26a841348940bac1319808c678b6ca66052488ad
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can, position it near the metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern to the metal kitchenpot with the left arm",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up and move it next to the smooth gray kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the dark gray stove kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Place the plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to move the plastic lid sauce can beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the medium kitchenpot made of metal",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the cylindrical kitchenpot",
+    "Place the cylindrical sauce can next to the medium kitchenpot made of metal",
+    "Set the round sauce can with yellow pattern right next to the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can to the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can to the medium kitchenpot made of metal using the left arm",
+    "Pick up the sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the smooth gray kitchenpot's side",
+    "Grab the hand-sized sauce can and move it close to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Pick the sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to be next to the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Set the sauce can with sealed top near the cooking kitchenpot with side grips after picking it up",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and move it near the smooth gray kitchenpot",
+    "Move the cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can from its spot to near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the metal kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can to the round kitchenpot with handles with the left arm",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the smooth gray kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the medium-sized kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Bring the sauce can with sealed top over and set it near the metal kitchenpot",
+    "Grab the sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to move the hand-sized sauce can beside the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the round kitchenpot with handles",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the round kitchenpot with handles",
+    "Pick the sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Place the plastic lid sauce can next to the cylindrical kitchenpot",
+    "Set the sauce can right next to the medium-sized kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it to the dark gray stove kitchenpot's side",
+    "Grab the round sauce can with yellow pattern and move it close to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the metal kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish, place it by the gray kitchenpot",
+    "Move the sauce can with glossy finish to be next to the medium kitchenpot made of metal",
+    "Pick up the sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Pick the sauce can with sealed top up and carefully position it beside the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the cylindrical kitchenpot",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can and place it next to the round kitchenpot with handles",
+    "Move the cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode5.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..73856965506c38ca7610086bca0ed7635fe65520
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rounded-edge sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the medium-sized kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the cooking kitchenpot with side grips",
+    "Bring the hand-sized sauce can over and set it near the gray kitchenpot",
+    "Move the plastic lid sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Set the hand-sized sauce can near the gray kitchenpot after picking it up",
+    "Grab the sauce can with glossy finish and move it close to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid using the left arm and position it by the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Take the plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Move the yellow brown sauce can to be next to the smooth gray kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the metal kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the round kitchenpot with handles",
+    "Set the round sauce can with yellow pattern right next to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid and position it next to the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid to the dark gray stove kitchenpot with the left arm",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can, place it by the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the metal kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can and move it near the metal kitchenpot",
+    "Using the left arm, lift the sauce can with sealed top and place it by the smooth gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the yellow brown sauce can to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the medium kitchenpot made of metal",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Place the medium sauce can with white lid next to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the smooth gray kitchenpot",
+    "Place the cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot for boiling and cooking",
+    "Bring the sauce can with sealed top over and set it near the kitchenpot with smooth exterior",
+    "Move the cylindrical sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Set the yellow brown sauce can near the dark gray stove kitchenpot after picking it up",
+    "Grab the sauce can with sealed top and move it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Take the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot using the left arm",
+    "Move the yellow brown sauce can to be next to the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top with the left arm and set by the cooking kitchenpot with side grips",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the metal kitchenpot",
+    "Grab the sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the gray kitchenpot",
+    "Move the rounded-edge sauce can to the metal kitchenpot with the left arm",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Lift the sauce can, place it by the cooking kitchenpot with side grips",
+    "Lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and move it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the hand-sized sauce can and place it by the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to take the hand-sized sauce can to the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the round kitchenpot with handles",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with sealed top next to the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode6.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2cd1c5cd2e319a03c7a42f22902ee19d5d50f33
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Move the sauce can from its spot to near the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the cylindrical kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the medium-sized kitchenpot",
+    "Lift the sauce can and set it beside the round kitchenpot with handles",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the metal kitchenpot",
+    "Move the round sauce can with yellow pattern to the kitchenpot for boiling and cooking with the left arm",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the round kitchenpot with handles",
+    "Lift the yellow brown sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the metal kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can to the dark gray stove kitchenpot using the left arm",
+    "Take the medium sauce can with white lid using the left arm, set it next to the metal kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the metal kitchenpot",
+    "Place the sauce can with glossy finish beside the dark gray stove kitchenpot after picking it up",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with sealed top next to the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the round kitchenpot with handles",
+    "Pick up the rounded-edge sauce can and put it beside the kitchenpot with smooth exterior",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can to be next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Set the sauce can with sealed top near the dark gray stove kitchenpot after picking it up",
+    "Grab the yellow brown sauce can and move it close to the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the metal kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can from its spot to near the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the cooking kitchenpot with side grips",
+    "Bring the hand-sized sauce can over and set it near the round kitchenpot with handles",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the round kitchenpot with handles",
+    "Grab the sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can and set it beside the cylindrical kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the metal kitchenpot",
+    "Move the sauce can with sealed top to the kitchenpot with smooth exterior with the left arm",
+    "Pick the medium sauce can with white lid up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the metal kitchenpot",
+    "Move the white plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can and move to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Grab the sauce can with glossy finish with the left arm and set it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the medium kitchenpot made of metal using the left arm",
+    "Take the cylindrical sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid right next to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the metal kitchenpot",
+    "Place the sauce can with sealed top beside the cylindrical kitchenpot after picking it up",
+    "Lift the sauce can with glossy finish and set it next to the cooking kitchenpot with side grips",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Move the sauce can to be next to the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Set the sauce can with glossy finish near the cooking kitchenpot with side grips after picking it up",
+    "Grab the hand-sized sauce can and move it close to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can, place it by the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode7.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c741ff97d3a8c47af8c880480288a420abbf583d
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the medium-sized kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid to the dark gray stove kitchenpot using the left arm",
+    "Set the brown and yellow cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Move the sauce can with sealed top to be next to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can, then move it next to the metal kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish to the medium-sized kitchenpot with the left arm",
+    "Lift the round sauce can with yellow pattern and set it beside the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, move it, and place by the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Place the medium sauce can with white lid beside the gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the metal kitchenpot",
+    "Lift the sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium-sized kitchenpot's side",
+    "Grab the white plastic lid sauce can and move it close to the smooth gray kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the cylindrical kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the dark gray stove kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the gray cylindrical metal kitchenpot",
+    "Place the rounded-edge sauce can next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Lift the yellow brown sauce can and move it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the round sauce can with yellow pattern beside the cylindrical kitchenpot after lifting it",
+    "Pick up the rounded-edge sauce can and put it beside the round kitchenpot with handles",
+    "Use the left arm to pick the cylindrical sauce can, position it near the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can with sealed top to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Take the sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Set the white plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can to be next to the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can, then place it next to the medium-sized kitchenpot",
+    "Move the cylindrical sauce can to the medium-sized kitchenpot with the left arm",
+    "Lift the medium sauce can with white lid and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the gray kitchenpot",
+    "Set the white plastic lid sauce can near the medium kitchenpot made of metal after picking it up",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish with the left arm and set by the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the round kitchenpot with handles",
+    "Place the sauce can with glossy finish beside the gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can and move it beside the gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Pick the plastic lid sauce can and position it next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, move it to the metal kitchenpot's side",
+    "Grab the sauce can and move it close to the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can with the left arm, place it near the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cooking kitchenpot with side grips",
+    "With the left arm, grab the rounded-edge sauce can and move to the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Bring the medium sauce can with white lid over and set it near the gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the smooth gray kitchenpot",
+    "Place the medium sauce can with white lid next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish up and move it next to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and move it near the gray kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern beside the gray cylindrical metal kitchenpot after lifting it",
+    "Pick up the white plastic lid sauce can and put it beside the round kitchenpot with handles",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode8.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..c304444464088848bb1525ff8cfa0a594cda9765
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sauce can with sealed top up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the gray kitchenpot",
+    "Set the hand-sized sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Grab the sauce can, shift it, and place it close to the gray kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the cylindrical kitchenpot after picking it up",
+    "Pick up the medium sauce can with white lid with the left arm and set by the kitchenpot for boiling and cooking",
+    "Use the left arm to take the hand-sized sauce can to the dark gray stove kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the round kitchenpot with handles",
+    "Move the sauce can with glossy finish to the cooking kitchenpot with side grips with the left arm",
+    "Lift the sauce can with glossy finish using the left arm and position it by the cylindrical kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Pick the cylindrical sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Lift the sauce can, place it by the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Place the round sauce can with yellow pattern next to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Move the rounded-edge sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the gray kitchenpot",
+    "Take the round sauce can with yellow pattern to the cooking kitchenpot with side grips using the left arm",
+    "Grab the plastic lid sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Bring the sauce can with glossy finish over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can beside the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the gray kitchenpot",
+    "Set the white plastic lid sauce can near the medium kitchenpot made of metal after picking it up",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can and transfer it near the gray kitchenpot",
+    "Place the rounded-edge sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Pick up the medium sauce can with white lid with the left arm and set by the kitchenpot for boiling and cooking",
+    "Use the left arm to take the yellow brown sauce can to the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Move the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot with the left arm",
+    "Lift the yellow brown sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "With the left arm, grab the sauce can and move to the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cylindrical kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can and position it next to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the gray kitchenpot",
+    "Grab the hand-sized sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to lift the sauce can and place it near the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and move it near the metal kitchenpot",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it beside the cylindrical kitchenpot",
+    "Place the sauce can with glossy finish next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the kitchenpot for boiling and cooking",
+    "Pick up the sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Set the white plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the medium kitchenpot made of metal",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Take the rounded-edge sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Grab the hand-sized sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Bring the medium sauce can with white lid over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the round kitchenpot with handles",
+    "Lift the sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and place it next to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode9.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..afff8418991846b0a2cdde0c15b780bda9dc4e85
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white plastic lid sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the metal kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the sauce can beside the round kitchenpot with handles",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round kitchenpot with handles",
+    "Take the sauce can with sealed top to the dark gray stove kitchenpot using the left arm",
+    "Pick the plastic lid sauce can up and move it next to the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Lift the medium sauce can with white lid, place it by the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can right next to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it to the cylindrical kitchenpot's side",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the metal kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can, move it beside the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the cylindrical kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Lift the yellow brown sauce can, then place it next to the gray kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot with smooth exterior",
+    "Move the cylindrical sauce can to be next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Set the rounded-edge sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Bring the sauce can over and set it near the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can and move it near the gray kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Place the plastic lid sauce can next to the dark gray stove kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Take the sauce can to the dark gray stove kitchenpot using the left arm",
+    "Pick the hand-sized sauce can up and move it next to the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid to the metal kitchenpot with the left arm",
+    "Lift the sauce can with sealed top, place it by the gray kitchenpot",
+    "Set the sauce can with glossy finish right next to the metal kitchenpot",
+    "Grab the sauce can, move it to the smooth gray kitchenpot's side",
+    "Using the left arm, lift the sauce can with sealed top and place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can from its spot to near the gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid and move it close to the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the metal kitchenpot",
+    "Move the white plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Pick up the sauce can with sealed top with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the round kitchenpot with handles",
+    "Place the sauce can with sealed top beside the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the cylindrical sauce can, then place it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the gray kitchenpot",
+    "Use the left arm to take the sauce can with sealed top to the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it beside the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can and put it beside the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Set the rounded-edge sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Pick the sauce can up and carefully position it beside the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/scene_info.json b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4b971e18d5aa0bd5d9dd7d31c0d7e62efa4adf
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/scene_info.json
@@ -0,0 +1,14552 @@
+{
+    "episode_0": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_2",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                                0.05
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+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
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+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                0.07
+                            ],
+                            "ylim": [
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+                                -0.020000000000000004
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+                            "zlim": [
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+                            "qpos": [
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+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                            "ylim": [
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+                                0.05
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+                            "zlim": [
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+                                0.741
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+                            "qpos": [
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+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
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+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                                0.05
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+                            "ylim": [
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+                                0,
+                                0,
+                                0.7
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+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                                0.741
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+                                0.5,
+                                0.5,
+                                0.5
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+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                            "rotate_rand": false
+                        }
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+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                -0.15000000000000002
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+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
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+                                0.25
+                            ],
+                            "ylim": [
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+                            "zlim": [
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+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                -0.09999999999999999
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+                            "ylim": [
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+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_2",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_2",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
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+                            "ylim": [
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+                                0.05
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+                            "zlim": [
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+                            "qpos": [
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+                                0,
+                                1
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+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                            "ylim": [
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+                            "zlim": [
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+                        "rand_pose": {
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+                            "rotate_rand": false
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+                        "rand_pose": {
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+                                0.707,
+                                0.707
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+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_2",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_48": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_2",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                0.05
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+                                0.05
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+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
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+                                0,
+                                0,
+                                1
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+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                                -0.16999999999999998
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+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
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+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
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+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
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+                                0.025
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                0.07
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+                                -0.020000000000000004
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
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+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
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+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                            ],
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+                                -0.05
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+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_2",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_49": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_2",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.07500000000000001,
+                                0.025
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
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+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "move_can_pot",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_2",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/seed.txt b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd5fd978657e6ead66797a90504527531e64460a
--- /dev/null
+++ b/language/train/move_can_pot/rtgen_language_train_move_can_pot_template_bucket_2/seed.txt
@@ -0,0 +1 @@
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diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode0.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6347d534560b5200b1ade0890438c663cf2105ac
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the portable folding laptop open with the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Use the right arm to open the medium-sized laptop.",
+    "Gently open the device with flat keyboard and screen.",
+    "Raise the compact black and silver computer's top section.",
+    "Push the portable folding laptop's lid upward using the right arm.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Raise and open the black and silver laptop.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Lift the device with flat keyboard and screen's lid using the right arm.",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "Raise the matte laptop with smooth screen lid with the right arm.",
+    "Open the matte laptop with smooth screen entirely.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Fully lift the folding laptop with screen and keyboard using the right arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Lift and open the medium-sized laptop.",
+    "Lift the portable folding laptop lid completely.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Gently lift the silver keyboard laptop using the right arm",
+    "Lift the rectangular laptop with Toshiba logo slightly.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the black laptop with reflective screen to open.",
+    "Use the right arm to open the black and silver laptop",
+    "Pull open the black and silver laptop",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Fully open the the rectangular laptop with Toshiba logo.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Gently open the silver keyboard laptop upward.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Raise the lid of the compact black and silver computer.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Lift the portable folding laptop to open it up",
+    "Lift the black and silver laptop open with the right arm.",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Use the right arm to lift the compact black and silver computer",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Open the Toshiba laptop with folding design completely.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Carefully open the portable folding laptop using the right arm",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Pull up the lid of the medium-sized laptop",
+    "Raise and open the black and silver laptop.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Lift the black and silver laptop's lid using the right arm.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Open the compact black and silver computer entirely.",
+    "Raise the rectangular laptop with Toshiba logo lid using the right arm.",
+    "Fully lift the rectangular laptop with Toshiba logo using the right arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Lift and open the silver keyboard laptop.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Gently lift the black laptop with reflective screen using the right arm",
+    "Lift the silver keyboard laptop slightly.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Pull open the portable folding laptop",
+    "With the right arm, open the Toshiba laptop with folding design's lid.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Raise the device with flat keyboard and screen using the right arm firmly.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Pull the matte laptop with smooth screen open with the right arm.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Use the right arm to open the matte laptop with smooth screen."
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode1.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9797a98e1fa1e6704256686d690fa3a139cef696
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Use the right arm to open the black and silver laptop.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Lift the portable folding laptop's lid using the right arm.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Raise the lid of the Toshiba laptop with folding design.",
+    "Open the compact black and silver computer completely.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Gently open the Toshiba laptop with folding design upward.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Raise and open the laptop with silver keyboard.",
+    "Gently open the compact black and silver computer.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Raise the top of the matte laptop with smooth screen",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Pull open the black and silver laptop",
+    "Slide the portable folding laptop open with the right arm.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Gently lift the rectangular laptop with Toshiba logo using the right arm",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Open the folding laptop with screen and keyboard carefully with the right arm.",
+    "Raise the portable folding laptop lid using the right arm.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Lift and open the silver keyboard laptop.",
+    "Raise the portable folding laptop using the right arm.",
+    "Open the black laptop with reflective screen entirely.",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Pull the screen of the portable folding laptop.",
+    "Lift the silver keyboard laptop to open.",
+    "Use the right arm to lift the compact black and silver computer",
+    "Fully lift the black laptop with reflective screen using the right arm.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Use the right arm to open the silver keyboard laptop",
+    "Use the right arm to open the portable folding laptop.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Push the Toshiba laptop with folding design's lid upward using the right arm.",
+    "Lift the medium-sized laptop's lid using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo slightly.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Open the silver keyboard laptop completely.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Gently open the silver keyboard laptop upward.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Gently open the black and silver laptop.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Pull the portable folding laptop's lid upward.",
+    "Lift the medium-sized laptop to open it up",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Raise the top of the black and silver laptop",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Raise the Toshiba laptop with folding design lid with the right arm.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Gently lift the Toshiba laptop with folding design using the right arm",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Pull up the lid of the compact black and silver computer",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Lift and open the laptop with silver keyboard.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Lift the black laptop with reflective screen to open.",
+    "Use the right arm to lift the silver keyboard laptop",
+    "Fully lift the rectangular laptop with Toshiba logo using the right arm.",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Use the right arm to open the compact black and silver computer",
+    "Use the right arm to open the matte laptop with smooth screen."
+  ],
+  "unseen": [
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode10.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..95ed9d6051ec16deec521b3298aac4fef8bf1f4b
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Pull open the matte laptop with smooth screen",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Open the folding laptop with screen and keyboard carefully with the right arm.",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Raise and open the matte laptop with smooth screen.",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Gently open the portable folding laptop.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Raise the medium-sized laptop's top section.",
+    "With the right arm, open the medium-sized laptop's lid.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Fully lift the Toshiba laptop with folding design using the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Gently lift the Toshiba laptop with folding design using the right arm",
+    "Open the black laptop with reflective screen by lifting its lid.",
+    "Fully open the the medium-sized laptop.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Lift the medium-sized laptop to open it up",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Open the medium-sized laptop entirely.",
+    "Gently raise the device with flat keyboard and screen using the right arm.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Lift the portable folding laptop to open.",
+    "Slide the silver keyboard laptop open with the right arm.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Pull open the compact black and silver computer",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Lift and open the medium-sized laptop.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Raise and open the black laptop with reflective screen.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Carefully open the folding laptop with screen and keyboard using the right arm",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Gently open the matte laptop with smooth screen.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Open the silver keyboard laptop completely.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Gently lift the silver keyboard laptop using the right arm",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Use the right arm to open the Toshiba laptop with folding design",
+    "Lift the silver keyboard laptop to open it up",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Open the medium-sized laptop entirely.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the silver keyboard laptop slightly.",
+    "Lift the portable folding laptop to open.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Pull the screen of the Toshiba laptop with folding design."
+  ],
+  "unseen": [
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode11.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d93b7905b5e04109a67e440e7e45918ca54deb03
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the silver keyboard laptop.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Fully lift the silver keyboard laptop using the right arm.",
+    "Lift and open the medium-sized laptop.",
+    "Open the portable folding laptop completely.",
+    "Use the right arm to open the black and silver laptop",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Open the black and silver laptop entirely.",
+    "Pull up the lid of the portable folding laptop",
+    "Lift the portable folding laptop slightly.",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Pull open the black laptop with reflective screen",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the device with flat keyboard and screen using the right arm firmly.",
+    "Lift the black and silver laptop lid completely.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Raise the black laptop with reflective screen lid with the right arm.",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Raise the portable folding laptop to expose the screen",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Lift the matte laptop with smooth screen to open.",
+    "Carefully open the folding laptop with screen and keyboard using the right arm",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Slide the silver keyboard laptop open with the right arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Use the right arm to lift the black and silver laptop",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Lift the matte laptop with smooth screen open with the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Fully open the the medium-sized laptop.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Lift and open the black and silver laptop.",
+    "Open the silver keyboard laptop completely.",
+    "Use the right arm to open the matte laptop with smooth screen",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Raise the top of the medium-sized laptop",
+    "Raise the laptop with silver keyboard lid using the right arm.",
+    "Open the silver keyboard laptop entirely.",
+    "Pull up the lid of the black and silver laptop",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Pull open the portable folding laptop",
+    "Raise and open the black laptop with reflective screen.",
+    "Open the black laptop with reflective screen lifting with the right arm",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Raise the compact black and silver computer using the right arm firmly.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Lift the black and silver laptop's lid using the right arm.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Use the right arm to open the portable folding laptop.",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Lift the portable folding laptop to open.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Raise the medium-sized laptop using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Use the right arm to lift the device with flat keyboard and screen",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Gently raise the folding laptop with screen and keyboard using the right arm.",
+    "Push the rectangular laptop with Toshiba logo's lid upward using the right arm.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Use the right arm to open the laptop with silver keyboard."
+  ],
+  "unseen": [
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode12.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed413149ac792f89f09735ee67ce08f88857032
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver keyboard laptop slightly.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Gently raise the portable folding laptop using the right arm.",
+    "With the right arm, open the Toshiba laptop with folding design's lid.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Lift the portable folding laptop to open.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Lift the device with flat keyboard and screen's lid using the right arm.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Open the laptop with silver keyboard entirely.",
+    "Raise the device with flat keyboard and screen lid with the right arm.",
+    "Use the right arm to open the black and silver laptop",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "Grip and lift the black and silver laptop's lid.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Raise and open the black laptop with reflective screen.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Pull open the matte laptop with smooth screen",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Lift and open the matte laptop with smooth screen.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Open the rectangular laptop with Toshiba logo by lifting its lid.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the lid of the portable folding laptop.",
+    "Use the right arm to open the black and silver laptop.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Fully lift the rectangular laptop with Toshiba logo using the right arm.",
+    "Open the matte laptop with smooth screen completely.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Lift the laptop with silver keyboard slightly.",
+    "Slide the compact black and silver computer open with the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Lift the black and silver laptop to open it up",
+    "Gently raise the portable folding laptop using the right arm.",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Gently lift the device with flat keyboard and screen using the right arm",
+    "Lift the compact black and silver computer to open.",
+    "Gently open the silver keyboard laptop.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Raise the compact black and silver computer's top section.",
+    "Lift the silver keyboard laptop open with the right arm.",
+    "Lift the folding laptop with screen and keyboard's lid using the right arm.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Use the right arm to open the Toshiba laptop with folding design",
+    "Open the compact black and silver computer lifting with the right arm",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Pull open the matte laptop with smooth screen",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Lift and open the portable folding laptop.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Pull up the lid of the black and silver laptop",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Gently open the rectangular laptop with Toshiba logo upward.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the lid of the black and silver laptop.",
+    "Use the right arm to open the black and silver laptop.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Raise the top of the compact black and silver computer",
+    "Fully lift the matte laptop with smooth screen using the right arm.",
+    "Open the compact black and silver computer completely.",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Raise the compact black and silver computer lid using the right arm.",
+    "Carefully open the black and silver laptop using the right arm"
+  ],
+  "unseen": [
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode13.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec17566fdf8cad3840ec2dfbb4bfea2bc65e6c4
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Raise the top of the silver keyboard laptop",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Lift the rectangular laptop with Toshiba logo to open.",
+    "Fully open the the portable folding laptop.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Open the compact black and silver computer completely.",
+    "Pull open the black laptop with reflective screen",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "Raise and open the compact black and silver computer.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the compact black and silver computer lid using the right arm.",
+    "Use the right arm to lift the portable folding laptop",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Pull the portable folding laptop's lid upward.",
+    "Open the compact black and silver computer carefully with the right arm.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Use the right arm to open the medium-sized laptop",
+    "With the right arm, open the medium-sized laptop's lid.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Gently open the Toshiba laptop with folding design.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Lift the medium-sized laptop slightly.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Lift the laptop with silver keyboard to open.",
+    "Fully open the the black laptop with reflective screen.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Open the compact black and silver computer completely.",
+    "Pull open the laptop with silver keyboard",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Lift the device with flat keyboard and screen's lid using the right arm.",
+    "Raise and open the medium-sized laptop.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Raise the silver keyboard laptop lid using the right arm.",
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Raise the compact black and silver computer using the right arm firmly.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Pull the silver keyboard laptop's lid upward.",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Use the right arm to open the matte laptop with smooth screen",
+    "With the right arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Gently lift the compact black and silver computer using the right arm",
+    "Gently open the silver keyboard laptop.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Raise the black and silver laptop using the right arm.",
+    "Open the matte laptop with smooth screen by lifting its lid.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Fully lift the black laptop with reflective screen using the right arm.",
+    "Open the device with flat keyboard and screen entirely.",
+    "Pull up the lid of the compact black and silver computer",
+    "Lift the black and silver laptop's lid upwards.",
+    "Lift the black and silver laptop slightly.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Hold the black laptop with reflective screen steady, lift lid."
+  ],
+  "unseen": [
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode14.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..9263301374c7bcf8f508d38d8d4c7e1517b65917
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise and open the black laptop with reflective screen.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Lift the compact black and silver computer to open.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Push the black laptop with reflective screen's lid upward using the right arm.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Lift the medium-sized laptop slightly.",
+    "Use the right arm to open the black and silver laptop",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Carefully open the black laptop with reflective screen using the right arm",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Raise the medium-sized laptop to expose the screen",
+    "Pull up the lid of the black laptop with reflective screen",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Raise the black and silver laptop's top section.",
+    "Pull open the portable folding laptop",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Pull the screen of the medium-sized laptop.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Use the right arm to lift the folding laptop with screen and keyboard",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Raise the lid of the portable folding laptop.",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Lift the device with flat keyboard and screen's lid using the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Raise the top of the medium-sized laptop",
+    "Gently lift the compact black and silver computer using the right arm",
+    "Fully lift the black laptop with reflective screen using the right arm.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Gently open the black and silver laptop upward.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Lift the black laptop with reflective screen open with the right arm.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Fully open the the compact black and silver computer.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Open the black laptop with reflective screen completely.",
+    "Lift the laptop with silver keyboard to open.",
+    "Lift and open the black laptop with reflective screen.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Push the portable folding laptop's lid upward using the right arm.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Lift the compact black and silver computer slightly.",
+    "Use the right arm to open the folding laptop with screen and keyboard",
+    "Pull the black and silver laptop upward lightly.",
+    "Carefully open the portable folding laptop using the right arm",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Pull up the lid of the portable folding laptop",
+    "With the right arm, open the black laptop with reflective screen's lid.",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Raise the portable folding laptop using the right arm.",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Use the right arm to open the black and silver laptop.",
+    "Raise the top of the silver keyboard laptop",
+    "Gently lift the black laptop with reflective screen using the right arm",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Lift the portable folding laptop to open it up",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Gently open the compact black and silver computer upward.",
+    "Gently open the black laptop with reflective screen.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Lift the portable folding laptop lid completely.",
+    "Fully open the the rectangular laptop with Toshiba logo.",
+    "Open the folding laptop with screen and keyboard entirely."
+  ],
+  "unseen": [
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode15.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebc8c2a7efaf216e1da62ea602c942301aaca07
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the device with flat keyboard and screen upward.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Gently raise the black laptop with reflective screen using the right arm.",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Raise the matte laptop with smooth screen lid using the right arm.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Raise the portable folding laptop using the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Lift the medium-sized laptop slightly.",
+    "Raise the black laptop with reflective screen lid with the right arm.",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Open the matte laptop with smooth screen carefully with the right arm.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Pull open the silver keyboard laptop",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "With the right arm, open the black laptop with reflective screen's lid.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Open the medium-sized laptop entirely.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Lift the black and silver laptop to open it up",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Use the right arm to open the Toshiba laptop with folding design",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Raise the portable folding laptop using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Gently open the black laptop with reflective screen.",
+    "Open the black and silver laptop completely.",
+    "Lift and open the Toshiba laptop with folding design.",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Gently open the portable folding laptop upward.",
+    "Open the matte laptop with smooth screen by lifting its lid.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Pull up the lid of the portable folding laptop",
+    "Fully open the the device with flat keyboard and screen.",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Raise the matte laptop with smooth screen lid using the right arm.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Lift the portable folding laptop open with the right arm.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Open the medium-sized laptop lifting with the right arm",
+    "With the right arm, open the compact black and silver computer's lid.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Carefully open the compact black and silver computer using the right arm",
+    "Lift the silver keyboard laptop to open it up",
+    "Slide the Toshiba laptop with folding design open with the right arm.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Use the right arm to open the black and silver laptop",
+    "Use the right arm to lift the black and silver laptop",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Lift the compact black and silver computer's lid using the right arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Gently open the medium-sized laptop.",
+    "Open the silver keyboard laptop completely.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the compact black and silver computer lid completely.",
+    "Raise the black laptop with reflective screen's top section.",
+    "Lift the Toshiba laptop with folding design's lid upwards."
+  ],
+  "unseen": [
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode16.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5510ff9dceec816ae6f62a05d8c1dac2628948a
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Pull the compact black and silver computer upward lightly.",
+    "Raise the portable folding laptop to expose the screen",
+    "Fully open the the medium-sized laptop.",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Raise the device with flat keyboard and screen lid with the right arm.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Slide the black and silver laptop open with the right arm.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Lift the folding laptop with screen and keyboard's lid using the right arm.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Lift the black laptop with reflective screen to open.",
+    "Lift the compact black and silver computer slightly.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Gently open the compact black and silver computer.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Use the right arm to open the silver keyboard laptop",
+    "Lift and open the Toshiba laptop with folding design.",
+    "Open the silver keyboard laptop carefully with the right arm.",
+    "Open the silver keyboard laptop entirely.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Raise the black and silver laptop's top section.",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Gently open the silver keyboard laptop upward.",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Raise the device with flat keyboard and screen using the right arm firmly.",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Pull open the black laptop with reflective screen",
+    "Pull up the lid of the medium-sized laptop",
+    "Use the right arm to raise the portable folding laptop.",
+    "Gently lift the device with flat keyboard and screen using the right arm",
+    "Pull the compact black and silver computer upward lightly.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Fully open the the device with flat keyboard and screen.",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Raise the matte laptop with smooth screen lid with the right arm.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Raise the top of the compact black and silver computer",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Fully lift the matte laptop with smooth screen using the right arm.",
+    "Use the right arm to lift the device with flat keyboard and screen",
+    "Open the laptop with silver keyboard lifting with the right arm",
+    "Lift the compact black and silver computer to open it up",
+    "Use the right arm to open the medium-sized laptop.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Lift the black laptop with reflective screen open with the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Open the Toshiba laptop with folding design completely.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Lift the compact black and silver computer to open.",
+    "Lift the portable folding laptop slightly.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Gently open the black laptop with reflective screen.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Use the right arm to open the folding laptop with screen and keyboard",
+    "Lift and open the black laptop with reflective screen.",
+    "Open the folding laptop with screen and keyboard carefully with the right arm.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Raise the black laptop with reflective screen's top section.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Pull the screen of the black and silver laptop.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Gently raise the device with flat keyboard and screen using the right arm.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Raise the medium-sized laptop using the right arm firmly.",
+    "Push the silver keyboard laptop's lid upward using the right arm.",
+    "Pull open the matte laptop with smooth screen",
+    "Pull up the lid of the device with flat keyboard and screen",
+    "Use the right arm to raise the black laptop with reflective screen."
+  ],
+  "unseen": [
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode17.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..45b005aa2598c1fd68e483badcfb60d02d9d6f92
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the silver keyboard laptop.",
+    "Raise the laptop with silver keyboard lid using the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Raise the portable folding laptop using the right arm.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Use the right arm to open the Toshiba laptop with folding design",
+    "Pull the portable folding laptop's lid upward.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Pull the black and silver laptop upward lightly.",
+    "Open the folding laptop with screen and keyboard carefully with the right arm.",
+    "Raise and open the black and silver laptop.",
+    "Lift the medium-sized laptop to open.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Raise the top of the silver keyboard laptop",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Open the laptop with silver keyboard lifting with the right arm",
+    "Fully open the the device with flat keyboard and screen.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Raise the lid of the medium-sized laptop.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Lift the compact black and silver computer's lid using the right arm.",
+    "Lift the Toshiba laptop with folding design open with the right arm.",
+    "Pull up the lid of the device with flat keyboard and screen",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Pull open the folding laptop with screen and keyboard",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Pull the screen of the black and silver laptop.",
+    "Use the right arm to lift the compact black and silver computer",
+    "Open the portable folding laptop entirely.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Lift the medium-sized laptop to open it up",
+    "Raise the device with flat keyboard and screen lid with the right arm.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Open the silver keyboard laptop completely.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Raise the compact black and silver computer using the right arm.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Push the black laptop with reflective screen's lid upward using the right arm.",
+    "Use the right arm to open the black and silver laptop",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Lift the black and silver laptop to open.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Use the right arm to open the portable folding laptop.",
+    "Raise the top of the matte laptop with smooth screen",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Fully open the the compact black and silver computer.",
+    "Lift the black and silver laptop lid completely.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Lift the portable folding laptop slightly.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Raise the lid of the compact black and silver computer.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Slide the matte laptop with smooth screen open with the right arm.",
+    "Gently open the black and silver laptop.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Lift the black and silver laptop's lid using the right arm.",
+    "Lift the matte laptop with smooth screen open with the right arm.",
+    "Pull up the lid of the portable folding laptop",
+    "Carefully open the black and silver laptop using the right arm",
+    "Pull open the matte laptop with smooth screen",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "With the right arm, open the compact black and silver computer's lid.",
+    "Pull the screen of the folding laptop with screen and keyboard.",
+    "Use the right arm to lift the portable folding laptop",
+    "Open the device with flat keyboard and screen entirely.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Gently open the compact black and silver computer upward.",
+    "Lift the silver keyboard laptop to open it up",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Fully lift the Toshiba laptop with folding design using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Open the silver keyboard laptop completely."
+  ],
+  "unseen": [
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode18.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..540fa6dfe773c28eae68a766ae6905dc719104a1
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Raise the compact black and silver computer using the right arm firmly.",
+    "Lift and open the black laptop with reflective screen.",
+    "Use the right arm to lift the folding laptop with screen and keyboard",
+    "Raise the silver keyboard laptop's top section.",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Pull open the matte laptop with smooth screen",
+    "Open the compact black and silver computer carefully with the right arm.",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Gently open the black laptop with reflective screen.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Use the right arm to open the compact black and silver computer",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the top of the black and silver laptop",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Carefully open the portable folding laptop using the right arm",
+    "Open the Toshiba laptop with folding design completely.",
+    "Open the black laptop with reflective screen by lifting its lid.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Slide the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Lift the black and silver laptop slightly.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Lift the folding laptop with screen and keyboard open with the right arm.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Push the Toshiba laptop with folding design's lid upward using the right arm.",
+    "Lift the black laptop with reflective screen to open.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Lift the medium-sized laptop to open it up",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Gently open the compact black and silver computer upward.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Lift and open the silver keyboard laptop.",
+    "Use the right arm to lift the device with flat keyboard and screen",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Pull open the Toshiba laptop with folding design",
+    "Open the portable folding laptop carefully with the right arm.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Use the right arm to open the medium-sized laptop",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the top of the portable folding laptop",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Gently lift the rectangular laptop with Toshiba logo using the right arm",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Carefully open the folding laptop with screen and keyboard using the right arm",
+    "Open the compact black and silver computer completely.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Fully lift the black and silver laptop using the right arm.",
+    "Slide the portable folding laptop open with the right arm.",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Raise the medium-sized laptop to expose the screen",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Raise and open the matte laptop with smooth screen.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Pull up the lid of the medium-sized laptop",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Open the black laptop with reflective screen entirely.",
+    "Fully open the the rectangular laptop with Toshiba logo.",
+    "Open the laptop with silver keyboard lifting with the right arm",
+    "Pull the compact black and silver computer upward lightly.",
+    "Raise the lid of the medium-sized laptop.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Push the Toshiba laptop with folding design's lid upward using the right arm.",
+    "Lift the silver keyboard laptop to open.",
+    "Raise the matte laptop with smooth screen lid with the right arm.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Gently open the medium-sized laptop upward."
+  ],
+  "unseen": [
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode19.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a4c8d10c762ea6ab9553a9dc50edd8d92557363
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Raise the portable folding laptop's top section.",
+    "Open the compact black and silver computer entirely.",
+    "Raise the matte laptop with smooth screen lid with the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Lift the black and silver laptop slightly.",
+    "Lift the compact black and silver computer to open it up",
+    "Fully lift the compact black and silver computer using the right arm.",
+    "Gently lift the silver keyboard laptop using the right arm",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Gently open the device with flat keyboard and screen.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Slide the folding laptop with screen and keyboard open with the right arm.",
+    "Pull open the matte laptop with smooth screen",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Raise the lid of the Toshiba laptop with folding design.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Lift the medium-sized laptop's lid using the right arm.",
+    "Raise the portable folding laptop using the right arm.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Open the laptop with silver keyboard completely.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Raise and open the matte laptop with smooth screen.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Lift the black and silver laptop lid completely.",
+    "Fully open the the laptop with silver keyboard.",
+    "Use the right arm to open the silver keyboard laptop",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Raise the black and silver laptop using the right arm.",
+    "Hold the silver keyboard laptop steady, lift lid.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Pull the screen of the medium-sized laptop.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Use the right arm to lift the device with flat keyboard and screen",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Open the portable folding laptop entirely.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Lift the laptop with silver keyboard slightly.",
+    "Lift the medium-sized laptop to open it up",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Gently lift the compact black and silver computer using the right arm",
+    "Carefully open the black laptop with reflective screen using the right arm",
+    "Gently open the medium-sized laptop.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Pull open the portable folding laptop",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Open the silver keyboard laptop carefully with the right arm.",
+    "Lift and open the Toshiba laptop with folding design.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Open the matte laptop with smooth screen by lifting its lid.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Raise the top of the matte laptop with smooth screen",
+    "Pull up the lid of the portable folding laptop",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Lift the medium-sized laptop's lid using the right arm.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Lift the compact black and silver computer to open.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Open the silver keyboard laptop completely.",
+    "Open the black laptop with reflective screen lifting with the right arm",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Gently open the silver keyboard laptop upward.",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Fully open the the portable folding laptop.",
+    "Use the right arm to open the portable folding laptop",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Pull the black and silver laptop upward lightly.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Raise the black and silver laptop using the right arm.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "With the right arm, open the compact black and silver computer's lid.",
+    "Pull the screen of the compact black and silver computer.",
+    "Pull the medium-sized laptop's lid upward."
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode2.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc3c3e81628a108beae2b3ac4a26dc77c3e2ad44
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Lift the portable folding laptop open with the right arm.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise the laptop with silver keyboard's top section.",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Raise the top of the compact black and silver computer",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Use the right arm to lift the medium-sized laptop",
+    "Lift the black and silver laptop slightly.",
+    "Use the right arm to open the medium-sized laptop",
+    "Lift and open the black and silver laptop.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Pull open the portable folding laptop",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Open the compact black and silver computer completely.",
+    "Pull the matte laptop with smooth screen open with the right arm.",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Lift the device with flat keyboard and screen's lid upwards.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Fully lift the silver keyboard laptop using the right arm.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Lift the black and silver laptop to open it up",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Raise and open the portable folding laptop.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Raise the black and silver laptop to expose the screen",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Raise the black and silver laptop using the right arm.",
+    "Gently open the black and silver laptop upward.",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Lift the laptop with silver keyboard to open.",
+    "Raise the black and silver laptop's top section.",
+    "With the right arm, open the portable folding laptop's lid.",
+    "Gently open the laptop with silver keyboard.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Raise the compact black and silver computer using the right arm firmly.",
+    "Raise the top of the laptop with silver keyboard",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Pull open the medium-sized laptop",
+    "Raise the silver keyboard laptop lid using the right arm.",
+    "Open the silver keyboard laptop completely.",
+    "Pull the device with flat keyboard and screen open with the right arm.",
+    "Open the portable folding laptop entirely.",
+    "Lift the device with flat keyboard and screen's lid upwards.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Lift the Toshiba laptop with folding design to open it up",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Slide the silver keyboard laptop open with the right arm.",
+    "Fully open the the matte laptop with smooth screen.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Raise the lid of the compact black and silver computer.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Open the portable folding laptop by lifting its lid.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Gently lift the folding laptop with screen and keyboard using the right arm"
+  ],
+  "unseen": [
+    "Open the computer with black screen with care",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode20.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c9ec3011b732aca8a7c443b8cad31b1c7257340
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the device with flat keyboard and screen open with the right arm.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Lift the Toshiba laptop with folding design to open it up",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Open the silver keyboard laptop carefully with the right arm.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Gently open the Toshiba laptop with folding design.",
+    "Raise the top of the black and silver laptop",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Lift the silver keyboard laptop slightly.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Raise the device with flat keyboard and screen using the right arm firmly.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Use the right arm to raise the portable folding laptop.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Pull the screen of the silver keyboard laptop.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Open the matte laptop with smooth screen completely.",
+    "Lift the portable folding laptop open with the right arm.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Open the medium-sized laptop entirely.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Fully open the the silver keyboard laptop.",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Gently raise the silver keyboard laptop using the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Use the right arm to open the medium-sized laptop",
+    "Fully lift the compact black and silver computer using the right arm.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Slide the portable folding laptop open with the right arm.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Lift the compact black and silver computer's lid using the right arm.",
+    "Pull the black and silver laptop upward lightly.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the silver keyboard laptop to open.",
+    "Raise the medium-sized laptop to expose the screen",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Lift the black and silver laptop slightly.",
+    "Use the right arm to lift the black and silver laptop",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Pull the screen of the folding laptop with screen and keyboard.",
+    "Raise the lid of the black and silver laptop.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Open the portable folding laptop by lifting its lid.",
+    "Open the Toshiba laptop with folding design completely.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Pull up the lid of the compact black and silver computer",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Fully open the the compact black and silver computer.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Pull open the portable folding laptop",
+    "Gently raise the silver keyboard laptop using the right arm.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Use the right arm to open the black and silver laptop",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Raise and open the silver keyboard laptop."
+  ],
+  "unseen": [
+    "Lift the laptop computer using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the laptop computer and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode21.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7575d287d5b5f3e5fc4e867ef63632fecda83de7
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Use the right arm to open the black and silver laptop.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Push the silver keyboard laptop's lid upward using the right arm.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Raise the lid of the portable folding laptop.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Slide the black and silver laptop open with the right arm.",
+    "Gently open the compact black and silver computer.",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Raise the laptop with silver keyboard lid using the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Open the compact black and silver computer lifting with the right arm",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Lift the matte laptop with smooth screen slightly.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Pull the portable folding laptop upward lightly.",
+    "Lift the compact black and silver computer lid completely.",
+    "Pull open the matte laptop with smooth screen",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Lift and open the medium-sized laptop.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Pull the screen of the medium-sized laptop.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Use the right arm to open the silver keyboard laptop",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "With the right arm, open the compact black and silver computer's lid.",
+    "Fully lift the black and silver laptop using the right arm.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Open the medium-sized laptop completely.",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Lift the matte laptop with smooth screen open with the right arm.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Raise and open the laptop with silver keyboard.",
+    "Gently raise the folding laptop with screen and keyboard using the right arm.",
+    "Raise the medium-sized laptop's top section.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Raise the lid of the compact black and silver computer.",
+    "Gently lift the black laptop with reflective screen using the right arm",
+    "Slide the folding laptop with screen and keyboard open with the right arm.",
+    "Gently open the portable folding laptop.",
+    "Raise the compact black and silver computer lid with the right arm.",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Open the medium-sized laptop lifting with the right arm",
+    "Raise the compact black and silver computer using the right arm.",
+    "Lift the silver keyboard laptop slightly.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Raise the top of the portable folding laptop",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Pull open the laptop with silver keyboard",
+    "Open the medium-sized laptop entirely.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo to open.",
+    "Lift and open the matte laptop with smooth screen.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Pull the screen of the compact black and silver computer.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Pull up the lid of the black laptop with reflective screen",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "With the right arm, open the black laptop with reflective screen's lid.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Lift the device with flat keyboard and screen's lid using the right arm.",
+    "Raise and open the silver keyboard laptop.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Fully open the the black and silver laptop.",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Use the right arm to open the folding laptop with screen and keyboard."
+  ],
+  "unseen": [
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode22.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..148707854e0ec7a8edebd0983db871fb3ff2d3c7
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Raise the folding laptop with screen and keyboard lid using the right arm.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Gently raise the silver keyboard laptop using the right arm.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Pull the lid of the silver keyboard laptop upward.",
+    "Pull open the black and silver laptop",
+    "Fully open the the matte laptop with smooth screen.",
+    "Raise and open the black and silver laptop.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Raise the portable folding laptop using the right arm.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Use the right arm to lift the folding laptop with screen and keyboard",
+    "Lift the portable folding laptop to open.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Raise the lid of the medium-sized laptop.",
+    "Raise the portable folding laptop to expose the screen",
+    "Lift and open the medium-sized laptop.",
+    "With the right arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Gently open the compact black and silver computer upward.",
+    "Raise the medium-sized laptop using the right arm firmly.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Gently open the black laptop with reflective screen.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the black laptop with reflective screen lid with the right arm.",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Use the right arm to open the compact black and silver computer.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Pull up the lid of the black laptop with reflective screen",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Lift the black laptop with reflective screen slightly.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Slide the Toshiba laptop with folding design open with the right arm.",
+    "Open the black laptop with reflective screen completely.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Lift the black and silver laptop's lid using the right arm.",
+    "Push the medium-sized laptop's lid upward using the right arm.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Raise the matte laptop with smooth screen lid using the right arm.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Pull the black and silver laptop upward lightly.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Pull open the black laptop with reflective screen",
+    "Fully open the the silver keyboard laptop.",
+    "Raise and open the laptop with silver keyboard.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Lift the medium-sized laptop lid completely.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Lift the black laptop with reflective screen to open.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Pull the screen of the medium-sized laptop.",
+    "Lift the portable folding laptop open with the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Open the laptop with silver keyboard entirely.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Raise the medium-sized laptop to expose the screen",
+    "Lift and open the silver keyboard laptop.",
+    "With the right arm, open the medium-sized laptop's lid.",
+    "Gently open the silver keyboard laptop upward.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Gently open the black and silver laptop.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Open the matte laptop with smooth screen carefully with the right arm.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Lift the silver keyboard laptop to open it up",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Raise the black and silver laptop using the right arm.",
+    "Raise the top of the laptop with silver keyboard",
+    "Open the portable folding laptop lifting with the right arm",
+    "Carefully open the Toshiba laptop with folding design using the right arm",
+    "Slide the Toshiba laptop with folding design open with the right arm.",
+    "Open the matte laptop with smooth screen completely.",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Push the black laptop with reflective screen's lid upward using the right arm."
+  ],
+  "unseen": [
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode23.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc45e89b0d9494a1ee2629c097359490dd1b94ca
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the silver keyboard laptop",
+    "Fully open the the portable folding laptop.",
+    "Lift the black and silver laptop to open.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Pull the matte laptop with smooth screen open with the right arm.",
+    "Lift the device with flat keyboard and screen's lid using the right arm.",
+    "Use the right arm to open the silver keyboard laptop",
+    "Raise the folding laptop with screen and keyboard lid with the right arm.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Pull open the portable folding laptop",
+    "Raise the black and silver laptop using the right arm.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Gently open the laptop with silver keyboard.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Gently open the medium-sized laptop upward.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Pull up the lid of the portable folding laptop",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Raise the black and silver laptop's top section.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Lift and open the medium-sized laptop.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Lift the portable folding laptop lid completely.",
+    "Lift the medium-sized laptop slightly.",
+    "Slide the compact black and silver computer open with the right arm.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "With the right arm, open the Toshiba laptop with folding design's lid.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Grip and lift the compact black and silver computer's lid.",
+    "Push the portable folding laptop's lid upward using the right arm.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Raise the compact black and silver computer to expose the screen",
+    "Open the portable folding laptop entirely.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Fully open the the device with flat keyboard and screen.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Use the right arm to open the compact black and silver computer",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Raise the portable folding laptop using the right arm.",
+    "Raise the black and silver laptop using the right arm.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Open the laptop with silver keyboard lifting with the right arm",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Pull the portable folding laptop's lid upward.",
+    "Open the compact black and silver computer completely.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Pull up the lid of the medium-sized laptop",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Raise the rectangular laptop with Toshiba logo lid using the right arm.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Raise the portable folding laptop's top section.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Open the silver keyboard laptop carefully with the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Lift the silver keyboard laptop slightly.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Carefully open the Toshiba laptop with folding design using the right arm",
+    "With the right arm, open the portable folding laptop's lid.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Push the black laptop with reflective screen's lid upward using the right arm.",
+    "Lift the silver keyboard laptop to open it up",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Open the laptop with silver keyboard entirely.",
+    "Raise the top of the folding laptop with screen and keyboard"
+  ],
+  "unseen": [
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode24.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..92686502a38a7d2d0afe55804677a52708813ef8
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the black and silver laptop.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Pull the silver keyboard laptop's lid upward.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Fully lift the matte laptop with smooth screen using the right arm.",
+    "Open the black laptop with reflective screen entirely.",
+    "Lift the silver keyboard laptop open with the right arm.",
+    "Pull open the laptop with silver keyboard",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Raise the top of the laptop with silver keyboard",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Use the right arm to open the portable folding laptop.",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "Gently open the black and silver laptop upward.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Raise and open the portable folding laptop.",
+    "Raise the silver keyboard laptop lid using the right arm.",
+    "Gently raise the device with flat keyboard and screen using the right arm.",
+    "Open the medium-sized laptop lifting with the right arm",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Gently open the portable folding laptop.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Use the right arm to open the silver keyboard laptop",
+    "Raise the silver keyboard laptop's top section.",
+    "Carefully open the portable folding laptop using the right arm",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Fully open the the Toshiba laptop with folding design.",
+    "With the right arm, open the medium-sized laptop's lid.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Open the matte laptop with smooth screen completely.",
+    "Push the medium-sized laptop's lid upward using the right arm.",
+    "Raise the portable folding laptop to expose the screen",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Lift the compact black and silver computer to open.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Open the black and silver laptop entirely.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Pull open the compact black and silver computer",
+    "Raise the black and silver laptop using the right arm.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Pull the screen of the compact black and silver computer.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Open the matte laptop with smooth screen carefully with the right arm.",
+    "Gently open the portable folding laptop upward.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Raise the matte laptop with smooth screen lid using the right arm.",
+    "Gently raise the silver keyboard laptop using the right arm.",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Lift the folding laptop with screen and keyboard's lid using the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Slide the matte laptop with smooth screen open with the right arm.",
+    "Gently open the compact black and silver computer.",
+    "Raise the black and silver laptop using the right arm.",
+    "Use the right arm to open the black laptop with reflective screen",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Fully open the the device with flat keyboard and screen.",
+    "With the right arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Gently lift the compact black and silver computer using the right arm",
+    "Use the right arm to lift the medium-sized laptop",
+    "Lift and open the portable folding laptop.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Open the device with flat keyboard and screen completely.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Raise the lid of the device with flat keyboard and screen."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode25.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b194f67259a887883256933462ead93e7e9218
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the matte laptop with smooth screen",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to open the black and silver laptop.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Pull the screen of the medium-sized laptop.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Gently open the medium-sized laptop.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Lift the black and silver laptop slightly.",
+    "Push the medium-sized laptop's lid upward using the right arm.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Raise the compact black and silver computer to expose the screen",
+    "Open the device with flat keyboard and screen carefully with the right arm.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the lid of the medium-sized laptop.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Lift the compact black and silver computer to open.",
+    "Use the right arm to open the black laptop with reflective screen",
+    "Open the black laptop with reflective screen completely.",
+    "Carefully open the Toshiba laptop with folding design using the right arm",
+    "Raise the top of the medium-sized laptop",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Gently open the rectangular laptop with Toshiba logo upward.",
+    "Raise and open the black and silver laptop.",
+    "Fully lift the folding laptop with screen and keyboard using the right arm.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Open the medium-sized laptop entirely.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Lift and open the black and silver laptop.",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Pull open the black laptop with reflective screen",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Gently open the portable folding laptop.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Lift the black and silver laptop slightly.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Gently lift the black and silver laptop using the right arm",
+    "Raise the black and silver laptop to expose the screen",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Use the right arm to raise the black and silver laptop.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Open the medium-sized laptop completely.",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Lift the black laptop with reflective screen open with the right arm.",
+    "Gently open the silver keyboard laptop upward.",
+    "Raise and open the laptop with silver keyboard.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Raise the medium-sized laptop using the right arm firmly.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Lift the medium-sized laptop's lid using the right arm.",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Slide the Toshiba laptop with folding design open with the right arm.",
+    "Pull the silver keyboard laptop's lid upward.",
+    "With the right arm, open the black laptop with reflective screen's lid.",
+    "Raise the black and silver laptop using the right arm.",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Lift the matte laptop with smooth screen lid completely.",
+    "Open the black and silver laptop entirely.",
+    "Raise the portable folding laptop lid using the right arm.",
+    "Lift and open the medium-sized laptop.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Hold the medium-sized laptop steady, lift lid."
+  ],
+  "unseen": [
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode26.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e89a3385e13db540b99ea39b4ce927aa1382162
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Raise the compact black and silver computer lid using the right arm.",
+    "Pull open the Toshiba laptop with folding design",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Raise the top of the black and silver laptop",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Gently raise the silver keyboard laptop using the right arm.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Use the right arm to open the portable folding laptop.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Pull the matte laptop with smooth screen open with the right arm.",
+    "Open the device with flat keyboard and screen completely.",
+    "Gently open the black laptop with reflective screen.",
+    "Open the folding laptop with screen and keyboard carefully with the right arm.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Pull the screen of the medium-sized laptop.",
+    "Gently lift the black laptop with reflective screen using the right arm",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Fully open the the silver keyboard laptop.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Lift the black and silver laptop to open.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Open the laptop with silver keyboard entirely.",
+    "Pull the black and silver laptop upward lightly.",
+    "Lift and open the matte laptop with smooth screen.",
+    "Grip and lift the compact black and silver computer's lid.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Lift the portable folding laptop's lid using the right arm.",
+    "Lift the compact black and silver computer lid completely.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Use the right arm to lift the black laptop with reflective screen",
+    "Raise the folding laptop with screen and keyboard using the right arm firmly.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Push the portable folding laptop's lid upward using the right arm.",
+    "Gently open the medium-sized laptop upward.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Pull open the black and silver laptop",
+    "Raise and open the laptop with silver keyboard.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Raise the top of the medium-sized laptop",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Gently raise the portable folding laptop using the right arm.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Pull the rectangular laptop with Toshiba logo open with the right arm.",
+    "Open the laptop with silver keyboard completely.",
+    "Gently open the portable folding laptop.",
+    "Open the device with flat keyboard and screen carefully with the right arm.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Fully open the the medium-sized laptop.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Lift the portable folding laptop to open.",
+    "Use the right arm to open the medium-sized laptop",
+    "Open the device with flat keyboard and screen entirely.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Lift and open the compact black and silver computer.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Lift the compact black and silver computer to open it up",
+    "Lift the black and silver laptop open with the right arm.",
+    "Lift the portable folding laptop's lid using the right arm.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Open the rectangular laptop with Toshiba logo lifting with the right arm",
+    "Pull the compact black and silver computer's lid upward.",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Raise the folding laptop with screen and keyboard using the right arm firmly.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Push the rectangular laptop with Toshiba logo's lid upward using the right arm.",
+    "Gently open the black and silver laptop upward.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Raise the matte laptop with smooth screen to expose the screen"
+  ],
+  "unseen": [
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode27.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..4803f447751ae9924e08d094f0b53898a5016d6c
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the black laptop with reflective screen entirely.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Lift the matte laptop with smooth screen slightly.",
+    "Slide the compact black and silver computer open with the right arm.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Pull open the matte laptop with smooth screen",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Pull up the lid of the black laptop with reflective screen",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Raise the compact black and silver computer lid using the right arm.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Lift the compact black and silver computer to open.",
+    "Gently open the black and silver laptop.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Fully open the the portable folding laptop.",
+    "Gently open the compact black and silver computer upward.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Lift the compact black and silver computer to open it up",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Open the medium-sized laptop completely.",
+    "Gently lift the Toshiba laptop with folding design using the right arm",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Pull the screen of the compact black and silver computer.",
+    "Use the right arm to open the folding laptop with screen and keyboard",
+    "Use the right arm to lift the folding laptop with screen and keyboard",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Gently raise the portable folding laptop using the right arm.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Raise and open the black laptop with reflective screen.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Open the black and silver laptop entirely.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Lift the black and silver laptop lid completely.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Lift the compact black and silver computer slightly.",
+    "Slide the black and silver laptop open with the right arm.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Grip and lift the portable folding laptop's lid.",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Pull open the Toshiba laptop with folding design",
+    "Lift the black and silver laptop open with the right arm.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Pull up the lid of the portable folding laptop",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Lift and open the portable folding laptop.",
+    "Raise the matte laptop with smooth screen lid using the right arm.",
+    "Raise the top of the device with flat keyboard and screen",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Fully open the the black and silver laptop.",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Raise the folding laptop with screen and keyboard using the right arm firmly.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the folding laptop with screen and keyboard's lid using the right arm.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Open the portable folding laptop completely.",
+    "Gently lift the black and silver laptop using the right arm",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Pull the screen of the black and silver laptop.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Use the right arm to lift the compact black and silver computer",
+    "Raise the lid of the portable folding laptop.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Gently raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Raise and open the black laptop with reflective screen.",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Fully lift the compact black and silver computer using the right arm.",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Raise the matte laptop with smooth screen lid with the right arm."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode28.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..3acbed24e46fab23fe36325c34efe5f524306a9f
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the portable folding laptop using the right arm.",
+    "Open the compact black and silver computer entirely.",
+    "Pull open the black laptop with reflective screen",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Open the compact black and silver computer carefully with the right arm.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Gently lift the black and silver laptop using the right arm",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Raise and open the matte laptop with smooth screen.",
+    "Raise the black and silver laptop to expose the screen",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Pull up the lid of the compact black and silver computer",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Pull the screen of the compact black and silver computer.",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Fully open the the portable folding laptop.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Raise the folding laptop with screen and keyboard lid with the right arm.",
+    "Fully lift the Toshiba laptop with folding design using the right arm.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Carefully open the black and silver laptop using the right arm",
+    "Pull the portable folding laptop's lid upward.",
+    "Lift and open the black and silver laptop.",
+    "Gently open the portable folding laptop upward.",
+    "Gently open the portable folding laptop.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Open the matte laptop with smooth screen lifting with the right arm",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Lift the compact black and silver computer to open it up",
+    "Lift the matte laptop with smooth screen to open.",
+    "Raise the lid of the portable folding laptop.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Open the compact black and silver computer entirely.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Use the right arm to raise the black and silver laptop.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to lift the medium-sized laptop",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Open the device with flat keyboard and screen carefully with the right arm.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Raise and open the medium-sized laptop.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Raise the silver keyboard laptop lid using the right arm.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Pull up the lid of the black laptop with reflective screen",
+    "Lift the silver keyboard laptop open with the right arm.",
+    "Pull the screen of the black and silver laptop.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Open the laptop with silver keyboard completely.",
+    "Raise the medium-sized laptop's top section.",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Fully open the the matte laptop with smooth screen.",
+    "Gently raise the black laptop with reflective screen using the right arm.",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Raise the black laptop with reflective screen lid with the right arm.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "Carefully open the Toshiba laptop with folding design using the right arm",
+    "Pull the portable folding laptop's lid upward.",
+    "Lift and open the laptop with silver keyboard.",
+    "Gently open the portable folding laptop upward.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Hold the Toshiba laptop with folding design steady, lift lid.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Use the right arm to open the medium-sized laptop",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Lift the black and silver laptop to open it up",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Raise the lid of the black and silver laptop."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode29.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef6597b806aa602ac522485b72f015fda37429f
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the device with flat keyboard and screen",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Open the matte laptop with smooth screen completely.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Raise and open the silver keyboard laptop.",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Raise the lid of the black and silver laptop.",
+    "Open the portable folding laptop entirely.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Gently open the laptop with silver keyboard.",
+    "Lift the compact black and silver computer to open.",
+    "Raise the portable folding laptop using the right arm.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise the top of the medium-sized laptop",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Pull open the device with flat keyboard and screen",
+    "Gently raise the device with flat keyboard and screen using the right arm.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Lift and open the medium-sized laptop.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Gently lift the rectangular laptop with Toshiba logo using the right arm",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Open the medium-sized laptop lifting with the right arm",
+    "Use the right arm to raise the portable folding laptop.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Lift the Toshiba laptop with folding design open with the right arm.",
+    "Use the right arm to lift the portable folding laptop",
+    "Raise the compact black and silver computer's top section.",
+    "Open the black and silver laptop completely.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Pull the screen of the compact black and silver computer.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Fully lift the compact black and silver computer using the right arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Lift the silver keyboard laptop to open it up",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Carefully open the portable folding laptop using the right arm",
+    "Raise the device with flat keyboard and screen using the right arm firmly.",
+    "Gently open the silver keyboard laptop upward.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Gently open the black laptop with reflective screen.",
+    "Lift the black and silver laptop to open.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the top of the black and silver laptop",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Pull the portable folding laptop upward lightly.",
+    "Lift and open the laptop with silver keyboard.",
+    "Open the rectangular laptop with Toshiba logo by lifting its lid.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Use the right arm to open the black and silver laptop",
+    "Fully open the the portable folding laptop.",
+    "Open the medium-sized laptop lifting with the right arm",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Pull the device with flat keyboard and screen open with the right arm.",
+    "Lift the black and silver laptop open with the right arm."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode3.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..29fcb5216e16e7f2c26088379d1bd0adfaedd137
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black and silver laptop's top section.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Open the medium-sized laptop entirely.",
+    "Fully open the the compact black and silver computer.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Pull open the portable folding laptop",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Open the medium-sized laptop completely.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Use the right arm to open the black and silver laptop.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Use the right arm to open the compact black and silver computer",
+    "Lift and open the medium-sized laptop.",
+    "Raise the top of the silver keyboard laptop",
+    "Gently lift the compact black and silver computer using the right arm",
+    "Push the medium-sized laptop's lid upward using the right arm.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Slide the portable folding laptop open with the right arm.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Raise the rectangular laptop with Toshiba logo lid with the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "Raise the folding laptop with screen and keyboard lid using the right arm.",
+    "Fully lift the rectangular laptop with Toshiba logo using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Raise and open the portable folding laptop.",
+    "Open the compact black and silver computer lifting with the right arm",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Gently open the portable folding laptop.",
+    "Pull the matte laptop with smooth screen open with the right arm.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Open the device with flat keyboard and screen entirely.",
+    "Fully open the the medium-sized laptop.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Pull open the device with flat keyboard and screen",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Lift the silver keyboard laptop open with the right arm.",
+    "Lift the folding laptop with screen and keyboard's lid using the right arm.",
+    "With the right arm, open the black laptop with reflective screen's lid.",
+    "Carefully open the compact black and silver computer using the right arm",
+    "Open the device with flat keyboard and screen completely.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Use the right arm to open the portable folding laptop.",
+    "Pull up the lid of the medium-sized laptop",
+    "Use the right arm to open the portable folding laptop",
+    "Lift and open the compact black and silver computer.",
+    "Raise the top of the black laptop with reflective screen",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Push the rectangular laptop with Toshiba logo's lid upward using the right arm.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Lift the rectangular laptop with Toshiba logo slightly.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Raise the Toshiba laptop with folding design lid with the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Raise the black laptop with reflective screen lid using the right arm.",
+    "Fully lift the black laptop with reflective screen using the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Pull the medium-sized laptop upward lightly.",
+    "Open the rectangular laptop with Toshiba logo by lifting its lid.",
+    "Raise and open the laptop with silver keyboard.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Gently open the medium-sized laptop.",
+    "Pull the device with flat keyboard and screen open with the right arm.",
+    "Gently raise the black laptop with reflective screen using the right arm."
+  ],
+  "unseen": [
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/scene_info.json b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..00997f30e089c573213aac1f786acc95dfdcf46a
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/scene_info.json
@@ -0,0 +1,14502 @@
+{
+    "episode_0": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
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+                        "rand_pose": {
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+                                0.05
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
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+                        "rand_pose": {
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+                            "ylim": [
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+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
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+                                0.07
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+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
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+                        "model_id": 0,
+                        "rand_pose": {
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+                        }
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+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                        }
+                    }
+                },
+                "place_object_basket": {
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+                    "basket": {
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+                                0.5,
+                                0.5,
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+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
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+                        "rand_pose": {
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+                                -0.0100455,
+                                -0.00982061
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+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
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+                        "rand_pose": {
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+                                -0.15000000000000002
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+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
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+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
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+                                0.25
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+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
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+                        "rand_pose": {
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+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "open_laptop",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
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+                            ],
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+                        }
+                    }
+                },
+                "place_can_basket": {
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+                    "basket": {
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+                        "model_id": 0,
+                        "rand_pose": {
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+                    }
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+                    "basket": {
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+                        }
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+                "pick_diverse_bottles": {
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+                        "rand_pose": {
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+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.07500000000000001,
+                                0.025
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "open_laptop",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_49": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.07500000000000001,
+                                0.025
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "open_laptop",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "right"
+        }
+    }
+}
\ No newline at end of file
diff --git a/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/seed.txt b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a0995c6af17b86b454b6412a300ab4e6eb4ba2b
--- /dev/null
+++ b/language/train/open_laptop/rtgen_language_train_open_laptop_template_bucket_0/seed.txt
@@ -0,0 +1 @@
+675096050 182866856 2021220279 1223012815 1936308165 957389920 1099356634 1336402290 1338426485 882926401 1654592859 1709484418 1136173166 643673767 1178694937 1793222560 2034774771 534640629 550486435 479921752 724952099 1831304920 219052515 443575255 1160024680 565013999 2033869364 491791068 1397396872 101064946 1454223149 607493609 1061005641 1996695779 1504566919 669744560 630957159 900664945 1490010483 1771808608 1837952511 436748935 1319715991 527952691 2106807593 599271208 1711678654 1387459293 2008319776 1414849356 
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode0.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e2faeb71bc374871c53a48c3a53193f91bdabc2
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle, then grab the plastic bottle with printed label too.",
+    "Grab the plastic bottle with bright red color, pick up the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the red bottle with screw cap or the smooth brown bottle.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the medium bottle with smooth texture.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the rounded bottle with printed details.",
+    "Hold the red bottle with narrow neck in one arm, the bottle with dark brown color in the other.",
+    "Collect the red bottle with white bottom text, then pick up the medium bottle with smooth texture.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with dark brown color.",
+    "Use one arm for the plastic bottle, the other for the bottle with white cap.",
+    "Secure the plastic bottle with bright red color, then secure the plastic bottle for liquids.",
+    "Hold the red bottle with curved grooves with one arm, hold the medium plastic bottle with the other.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the medium bottle with smooth texture.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Grab the plastic bottle using an arm and the bottle with white cap with the other arm.",
+    "With two arms, catch both the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Pick both the red bottle with curved grooves and the plastic bottle for liquids one after another.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves, then take hold of the handheld brown bottle with white lid.",
+    "Hold the handheld plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Use both arms to pick up the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Grasp the red bottle with narrow neck first, then take the handheld brown bottle with white lid.",
+    "Catch both the red bottle with curved grooves and the white-capped brown cylindrical bottle quickly.",
+    "Grab the smooth red cylindrical bottle using one arm and the medium bottle with smooth texture using the other.",
+    "Use both arms to pick up the red bottle and the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle, grab the medium plastic bottle next.",
+    "Hold onto the medium-size plastic bottle and then get the rounded bottle with printed details.",
+    "Pick up the red bottle with narrow neck, then pick up the plastic bottle with printed label.",
+    "Pick up both the red bottle and the medium plastic bottle.",
+    "Use each arm to lift the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with curved grooves and the rounded bottle with printed details together.",
+    "Grab the yellow text bottle with one arm, the bottle with white cap with the other.",
+    "Use one arm for the plastic bottle, another for the plastic bottle with printed label.",
+    "Grab the bottle with red cap with one arm, the medium plastic bottle with the other.",
+    "Take hold of the red bottle with screw cap and the bottle with dark brown color.",
+    "With both arms, pick up the red bottle with white bottom text, then the plastic bottle for liquids.",
+    "Grab the plastic bottle and pick up the plastic bottle with printed label.",
+    "Lift the medium-size plastic bottle and the handheld brown bottle with white lid with separate arms.",
+    "Lift the red bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Catch the medium-size plastic bottle, then catch the bottle with brown body and white top.",
+    "Use one arm for the handheld plastic bottle and the other for the smooth brown bottle.",
+    "Lift the red bottle, continue and pick up the medium bottle with smooth texture.",
+    "Catch the red bottle in one arm and the medium plastic bottle in the other arm.",
+    "Lift both the plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Hold both the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Secure the red bottle with narrow neck and the white-capped brown cylindrical bottle in succession.",
+    "Secure both the plastic bottle with bright red color and the plastic bottle for liquids quickly.",
+    "Grab and hold the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck.",
+    "Pick up the smooth red cylindrical bottle and then pick up the medium plastic bottle.",
+    "Catch the plastic bottle with one arm, the handheld brown bottle with white lid with another arm.",
+    "Catch the smooth red cylindrical bottle, then grab the bottle with white cap too.",
+    "Grab the red bottle with screw cap, pick up the plastic bottle for liquids.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with white cap.",
+    "Assign one arm to catch the yellow text bottle, one for the plastic bottle with printed label.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Hold the medium-size plastic bottle in one arm, the plastic bottle with printed label in the other.",
+    "Collect the red bottle with white bottom text, then pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle, the other for the bottle with dark brown color.",
+    "Secure the red bottle with curved grooves, then secure the rounded bottle with printed details.",
+    "Hold the red bottle with curved grooves with one arm, hold the medium bottle with smooth texture with the other.",
+    "Hold onto the red bottle with white bottom text, then pick up the bottle with white cap.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the plastic bottle for liquids with the other.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with dark brown color with the other arm.",
+    "With two arms, catch both the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Pick both the red bottle with screw cap and the cylindrical bottle with narrow neck one after another.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle, then take hold of the medium bottle with smooth texture.",
+    "Hold the red bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Use both arms to pick up the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Assign one arm to each of the red bottle with white bottom text and the bottle with white cap.",
+    "Grasp the medium-size plastic bottle first, then take the medium plastic bottle.",
+    "Catch both the plastic bottle and the plastic bottle for liquids quickly.",
+    "Grab the red bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Use both arms to pick up the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with screw cap, grab the smooth brown bottle next.",
+    "Hold onto the red bottle and then get the plastic bottle with printed label.",
+    "Pick up the red bottle with curved grooves, then pick up the bottle with white cap.",
+    "Pick up both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the yellow text bottle and the plastic bottle for liquids.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck together.",
+    "Grab the red bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Use one arm for the yellow text bottle, another for the bottle with dark brown color.",
+    "Grab the yellow text bottle with one arm, the plastic bottle with printed label with the other.",
+    "Take hold of the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "With both arms, pick up the red bottle with curved grooves, then the handheld brown bottle with white lid.",
+    "Grab the plastic bottle and pick up the plastic bottle for liquids.",
+    "Lift the red bottle with curved grooves and the cylindrical bottle with narrow neck with separate arms.",
+    "Lift the yellow text bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle with bright red color, then catch the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with white bottom text and the other for the medium plastic bottle.",
+    "Lift the red bottle with narrow neck, continue and pick up the cylindrical bottle with narrow neck.",
+    "Catch the handheld plastic bottle in one arm and the smooth brown bottle in the other arm.",
+    "Lift both the red bottle with screw cap and the cylindrical bottle with narrow neck simultaneously.",
+    "Hold both the bottle with red cap and the rounded bottle with printed details.",
+    "Secure the handheld plastic bottle and the plastic bottle for liquids in succession.",
+    "Secure both the plastic bottle with bright red color and the medium bottle with smooth texture quickly.",
+    "Grab and hold the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with curved grooves and then pick up the smooth brown bottle.",
+    "Catch the bottle with red cap with one arm, the cylindrical bottle with narrow neck with another arm."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode1.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ceecf3ac08d04feb216458a6e25860c1d048cbb
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld plastic bottle using one arm and the bottle with brown body and white top using the other.",
+    "Catch the red bottle with curved grooves, then take hold of the cylindrical bottle with narrow neck.",
+    "Take hold of the red bottle and the plastic bottle for liquids.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the medium bottle with smooth texture.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Secure the plastic bottle, then secure the bottle with white cap.",
+    "Pick up both the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Catch the yellow text bottle, grab the white-capped brown cylindrical bottle next.",
+    "Pick up the red bottle with narrow neck, then pick up the bottle with brown body and white top.",
+    "Each arm should pick up one: the handheld plastic bottle, then the plastic bottle with printed label.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the bottle with white cap with the other.",
+    "Hold the red bottle with narrow neck with one arm, hold the bottle with brown body and white top with the other.",
+    "Lift both the plastic bottle and the smooth brown bottle simultaneously.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with white cap.",
+    "Collect the handheld plastic bottle, then pick up the bottle with dark brown color.",
+    "Use one arm for the handheld plastic bottle, the other for the bottle with white cap.",
+    "Catch both the red bottle with curved grooves and the plastic bottle with printed label quickly.",
+    "Use both arms to lift the red bottle and the plastic bottle with printed label.",
+    "Catch the red bottle with curved grooves, then catch the medium plastic bottle.",
+    "Catch the red bottle with white bottom text with one arm, the medium bottle with smooth texture with another arm.",
+    "Pick both the red bottle with screw cap and the bottle with dark brown color one after another.",
+    "Secure the red bottle and the bottle with white cap in succession.",
+    "With two arms, catch both the yellow text bottle and the handheld brown bottle with white lid.",
+    "Assign one arm to catch the bottle with red cap, one for the smooth brown bottle.",
+    "Pick up the medium-size plastic bottle and then pick up the plastic bottle for liquids.",
+    "Hold both the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with curved grooves, then grab the medium bottle with smooth texture.",
+    "Grab the bottle with red cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with brown body and white top with the other arm.",
+    "Secure both the red bottle with screw cap and the bottle with dark brown color quickly.",
+    "Grab the red bottle with screw cap, pick up the bottle with white cap.",
+    "Catch the medium-size plastic bottle in one arm and the medium plastic bottle in the other arm.",
+    "Hold the red bottle with narrow neck in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Hold onto the red bottle with narrow neck, then pick up the bottle with dark brown color.",
+    "Hold the plastic bottle with bright red color in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Grab the red bottle with curved grooves and pick up the handheld brown bottle with white lid.",
+    "Let each arm grab either the red bottle with white bottom text or the medium bottle with smooth texture.",
+    "Lift the red bottle with screw cap and also take hold of the rounded bottle with printed details.",
+    "Catch the handheld plastic bottle, then grab the rounded bottle with printed details too.",
+    "Lift the medium-size plastic bottle and the bottle with dark brown color with separate arms.",
+    "Hold onto the yellow text bottle and then get the plastic bottle for liquids.",
+    "Grasp the red bottle with narrow neck first, then take the smooth brown bottle.",
+    "Use one arm for the red bottle with screw cap and the other for the cylindrical bottle with narrow neck.",
+    "Pick up both the plastic bottle with bright red color and the rounded bottle with printed details together.",
+    "Use both arms to pick up the yellow text bottle and the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with narrow neck, another for the white-capped brown cylindrical bottle.",
+    "Lift the yellow text bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle with printed label.",
+    "Grab the red bottle with one arm, the bottle with white cap with the other.",
+    "Assign one arm to each of the plastic bottle and the plastic bottle with printed label.",
+    "Grab the red bottle with curved grooves using one arm and the medium bottle with smooth texture using the other.",
+    "Catch the red bottle with white bottom text, then take hold of the medium bottle with smooth texture.",
+    "Take hold of the plastic bottle and the medium plastic bottle.",
+    "With both arms, pick up the plastic bottle with bright red color, then the bottle with dark brown color.",
+    "One arm grabs the yellow text bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Secure the red bottle, then secure the handheld brown bottle with white lid.",
+    "Pick up both the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Catch the smooth red cylindrical bottle, grab the bottle with dark brown color next.",
+    "Pick up the plastic bottle with bright red color, then pick up the bottle with white cap.",
+    "Each arm should pick up one: the bottle with red cap, then the rounded bottle with printed details.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the bottle with brown body and white top with the other.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Lift both the medium-size plastic bottle and the bottle with dark brown color simultaneously.",
+    "Use each arm to lift the handheld plastic bottle and the medium plastic bottle.",
+    "Collect the red bottle with screw cap, then pick up the handheld brown bottle with white lid.",
+    "Use one arm for the medium-size plastic bottle, the other for the rounded bottle with printed details.",
+    "Catch both the medium-size plastic bottle and the bottle with brown body and white top quickly.",
+    "Use both arms to lift the yellow text bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with curved grooves, then catch the plastic bottle with printed label.",
+    "Catch the red bottle with one arm, the bottle with white cap with another arm.",
+    "Pick both the plastic bottle and the bottle with dark brown color one after another.",
+    "Secure the plastic bottle with bright red color and the rounded bottle with printed details in succession.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with dark brown color.",
+    "Assign one arm to catch the bottle with red cap, one for the cylindrical bottle with narrow neck.",
+    "Pick up the bottle with red cap and then pick up the bottle with brown body and white top.",
+    "Hold both the handheld plastic bottle and the bottle with white cap.",
+    "Grab and hold the handheld plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the plastic bottle for liquids with the other.",
+    "Grab the red bottle with narrow neck using an arm and the plastic bottle with printed label with the other arm.",
+    "Secure both the smooth red cylindrical bottle and the bottle with white cap quickly.",
+    "Grab the red bottle with screw cap, pick up the plastic bottle with printed label.",
+    "Catch the medium-size plastic bottle in one arm and the medium bottle with smooth texture in the other arm.",
+    "Hold the red bottle with curved grooves in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Hold onto the red bottle with screw cap, then pick up the plastic bottle with printed label.",
+    "Hold the bottle with red cap in one arm, the smooth brown bottle in the other.",
+    "Grab the bottle with red cap and pick up the handheld brown bottle with white lid.",
+    "Let each arm grab either the plastic bottle with bright red color or the plastic bottle for liquids.",
+    "Lift the red bottle with curved grooves and also take hold of the medium plastic bottle.",
+    "Catch the yellow text bottle, then grab the smooth brown bottle too.",
+    "Lift the medium-size plastic bottle and the medium bottle with smooth texture with separate arms.",
+    "Hold onto the red bottle with screw cap and then get the rounded bottle with printed details.",
+    "Grasp the yellow text bottle first, then take the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle and the other for the bottle with white cap.",
+    "Pick up both the red bottle with narrow neck and the bottle with brown body and white top together.",
+    "Use both arms to pick up the plastic bottle and the plastic bottle for liquids.",
+    "Use one arm for the red bottle with curved grooves, another for the medium bottle with smooth texture.",
+    "Lift the red bottle with narrow neck, continue and pick up the plastic bottle with printed label.",
+    "Use both arms to pick up the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the plastic bottle for liquids."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode10.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bdfc98062e2798394f30d0eb72e76cfa053ae8f
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the plastic bottle for liquids.",
+    "Catch the bottle with red cap, then catch the plastic bottle with printed label.",
+    "Lift the red bottle with curved grooves and also take hold of the white-capped brown cylindrical bottle.",
+    "Secure both the red bottle and the cylindrical bottle with narrow neck quickly.",
+    "With both arms, pick up the bottle with red cap, then the plastic bottle for liquids.",
+    "Grab and hold the red bottle, then grab the medium bottle with smooth texture.",
+    "Grab the plastic bottle and pick up the bottle with dark brown color.",
+    "Pick up both the yellow text bottle and the bottle with white cap.",
+    "Grab the medium-size plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Assign one arm to catch the handheld plastic bottle, one for the bottle with dark brown color.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Grab the red bottle with screw cap using one arm and the bottle with white cap using the other.",
+    "Lift the red bottle with screw cap, continue and pick up the smooth brown bottle.",
+    "Lift the plastic bottle and the medium bottle with smooth texture with separate arms.",
+    "Pick up the red bottle with white bottom text and then pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with white cap.",
+    "Lift both the red bottle with screw cap and the bottle with brown body and white top simultaneously.",
+    "Use both arms to pick up the plastic bottle and the plastic bottle for liquids.",
+    "Hold the plastic bottle with bright red color in one arm, the plastic bottle with printed label in the other.",
+    "Grasp the red bottle with curved grooves first, then take the plastic bottle for liquids.",
+    "Catch the bottle with red cap with one arm, the bottle with brown body and white top with another arm.",
+    "Use one arm for the plastic bottle with bright red color and the other for the smooth brown bottle.",
+    "Hold onto the plastic bottle with bright red color and then get the plastic bottle with printed label.",
+    "Grab the bottle with red cap using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Assign one arm to each of the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Use each arm to lift the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Pick up the plastic bottle with bright red color, then pick up the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, then grab the smooth brown bottle too.",
+    "Catch the plastic bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Catch the red bottle with screw cap, then take hold of the bottle with white cap.",
+    "Hold the red bottle with narrow neck in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Take hold of the red bottle with screw cap and the plastic bottle for liquids.",
+    "Each arm should pick up one: the red bottle with screw cap, then the smooth brown bottle.",
+    "Pick both the medium-size plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Grab the medium-size plastic bottle, pick up the plastic bottle for liquids.",
+    "Catch the red bottle with screw cap, grab the cylindrical bottle with narrow neck next.",
+    "Grab the red bottle with one arm, the bottle with brown body and white top with the other.",
+    "Use one arm for the red bottle with curved grooves, the other for the bottle with brown body and white top.",
+    "Catch both the red bottle with white bottom text and the medium bottle with smooth texture quickly.",
+    "Secure the bottle with red cap, then secure the bottle with dark brown color.",
+    "Use one arm for the medium-size plastic bottle, another for the smooth brown bottle.",
+    "Secure the bottle with red cap and the bottle with brown body and white top in succession.",
+    "Hold onto the red bottle with narrow neck, then pick up the plastic bottle with printed label.",
+    "Use both arms to lift the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Hold the medium-size plastic bottle with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "With two arms, catch both the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the red bottle or the medium plastic bottle.",
+    "Pick up both the handheld plastic bottle and the cylindrical bottle with narrow neck together.",
+    "Hold both the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the handheld brown bottle with white lid.",
+    "Catch the plastic bottle, then catch the bottle with dark brown color.",
+    "Lift the red bottle with screw cap and also take hold of the medium plastic bottle.",
+    "Secure both the smooth red cylindrical bottle and the plastic bottle for liquids quickly.",
+    "With both arms, pick up the red bottle, then the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle with white bottom text, then grab the medium plastic bottle.",
+    "Grab the yellow text bottle and pick up the bottle with white cap.",
+    "Pick up both the handheld plastic bottle and the medium plastic bottle.",
+    "Grab the yellow text bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the smooth brown bottle.",
+    "Lift both bottles, the plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Grab the medium-size plastic bottle using one arm and the plastic bottle for liquids using the other.",
+    "Lift the red bottle with white bottom text, continue and pick up the plastic bottle with printed label.",
+    "Lift the smooth red cylindrical bottle and the bottle with white cap with separate arms.",
+    "Pick up the red bottle with white bottom text and then pick up the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Collect the red bottle with screw cap, then pick up the handheld brown bottle with white lid.",
+    "Lift both the smooth red cylindrical bottle and the bottle with white cap simultaneously.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with white cap.",
+    "Hold the smooth red cylindrical bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Grasp the red bottle first, then take the smooth brown bottle.",
+    "Catch the yellow text bottle with one arm, the medium bottle with smooth texture with another arm.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the white-capped brown cylindrical bottle.",
+    "Hold onto the medium-size plastic bottle and then get the plastic bottle for liquids.",
+    "Grab the yellow text bottle using an arm and the medium plastic bottle with the other arm.",
+    "Assign one arm to each of the red bottle and the smooth brown bottle.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Pick up the red bottle with curved grooves, then pick up the plastic bottle with printed label.",
+    "Catch the smooth red cylindrical bottle, then grab the handheld brown bottle with white lid too.",
+    "Catch the red bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Catch the handheld plastic bottle, then take hold of the smooth brown bottle.",
+    "Hold the yellow text bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Take hold of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the smooth brown bottle.",
+    "Pick both the plastic bottle with bright red color and the medium bottle with smooth texture one after another.",
+    "Grab the red bottle with curved grooves, pick up the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves, grab the medium bottle with smooth texture next.",
+    "Grab the handheld plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Use one arm for the handheld plastic bottle, the other for the plastic bottle for liquids.",
+    "Catch both the plastic bottle with bright red color and the smooth brown bottle quickly.",
+    "Secure the plastic bottle, then secure the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with screw cap, another for the medium bottle with smooth texture.",
+    "Secure the red bottle with narrow neck and the cylindrical bottle with narrow neck in succession.",
+    "Hold onto the plastic bottle with bright red color, then pick up the medium bottle with smooth texture.",
+    "Use both arms to lift the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "With two arms, catch both the yellow text bottle and the plastic bottle for liquids.",
+    "Let each arm grab either the handheld plastic bottle or the medium bottle with smooth texture.",
+    "Pick up both the red bottle with curved grooves and the medium plastic bottle together.",
+    "Hold both the smooth red cylindrical bottle and the smooth brown bottle."
+  ],
+  "unseen": [
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode11.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..b622c034a7476176922f41dcfaafd8162b677f2d
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Assign one arm to catch the red bottle with white bottom text, one for the plastic bottle with printed label.",
+    "Let each arm grab either the red bottle or the bottle with brown body and white top.",
+    "Catch the smooth red cylindrical bottle, then take hold of the medium plastic bottle.",
+    "Lift the red bottle with white bottom text and also take hold of the white-capped brown cylindrical bottle.",
+    "Hold both the red bottle with screw cap and the bottle with brown body and white top.",
+    "Use one arm for the red bottle with white bottom text, the other for the plastic bottle with printed label.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Hold the medium-size plastic bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Secure both the plastic bottle with bright red color and the bottle with dark brown color quickly.",
+    "Secure the red bottle with white bottom text and the plastic bottle for liquids in succession.",
+    "Catch the plastic bottle with bright red color with one arm, the handheld brown bottle with white lid with another arm.",
+    "Pick up both the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Grab the red bottle with one arm, the plastic bottle with printed label with the other.",
+    "Use both arms to pick up the plastic bottle and the bottle with white cap.",
+    "Pick up both the red bottle with screw cap and the plastic bottle for liquids together.",
+    "Catch the plastic bottle, then catch the bottle with brown body and white top.",
+    "Secure the bottle with red cap, then secure the plastic bottle for liquids.",
+    "Pick up the yellow text bottle and then pick up the bottle with dark brown color.",
+    "Grab the plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Collect the plastic bottle with bright red color, then pick up the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with screw cap and the plastic bottle with printed label with separate arms.",
+    "Grab the red bottle with narrow neck using an arm and the plastic bottle with printed label with the other arm.",
+    "Grab the red bottle with narrow neck and pick up the handheld brown bottle with white lid.",
+    "Pick up the handheld plastic bottle, then pick up the smooth brown bottle.",
+    "Hold the medium-size plastic bottle in one arm, the bottle with brown body and white top in the other.",
+    "Catch the smooth red cylindrical bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Catch both the handheld plastic bottle and the rounded bottle with printed details quickly.",
+    "Grab the red bottle with narrow neck, pick up the handheld brown bottle with white lid.",
+    "Grasp the plastic bottle first, then take the plastic bottle with printed label.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Pick both the plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "With both arms, pick up the handheld plastic bottle, then the plastic bottle for liquids.",
+    "Catch the red bottle with curved grooves, grab the handheld brown bottle with white lid next.",
+    "Use both arms to pick up the red bottle with screw cap and the smooth brown bottle.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the bottle with brown body and white top.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the plastic bottle and the medium plastic bottle.",
+    "Each arm should pick up one: the yellow text bottle, then the medium bottle with smooth texture.",
+    "Hold onto the red bottle with white bottom text and then get the bottle with dark brown color.",
+    "Catch the smooth red cylindrical bottle, then grab the plastic bottle with printed label too.",
+    "Grab the yellow text bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the medium plastic bottle.",
+    "Lift the handheld plastic bottle, continue and pick up the bottle with white cap.",
+    "Take hold of the red bottle with white bottom text and the bottle with dark brown color.",
+    "Grab and hold the red bottle with screw cap, then grab the rounded bottle with printed details.",
+    "Lift both the plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Use both arms to lift the bottle with red cap and the plastic bottle for liquids.",
+    "Use one arm for the red bottle with curved grooves, another for the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the handheld plastic bottle, one for the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the plastic bottle with bright red color or the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text, then take hold of the medium plastic bottle.",
+    "Lift the smooth red cylindrical bottle and also take hold of the bottle with white cap.",
+    "Hold both the plastic bottle and the bottle with brown body and white top.",
+    "Use one arm for the bottle with red cap, the other for the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the plastic bottle and the white-capped brown cylindrical bottle.",
+    "Hold the handheld plastic bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Secure both the red bottle with narrow neck and the handheld brown bottle with white lid quickly.",
+    "Secure the yellow text bottle and the bottle with brown body and white top in succession.",
+    "Catch the plastic bottle with bright red color with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Pick up both the red bottle with screw cap and the medium plastic bottle.",
+    "Grab the medium-size plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with curved grooves and the rounded bottle with printed details together.",
+    "Catch the plastic bottle with bright red color, then catch the bottle with brown body and white top.",
+    "Secure the bottle with red cap, then secure the bottle with dark brown color.",
+    "Pick up the plastic bottle and then pick up the smooth brown bottle.",
+    "Grab the plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Collect the plastic bottle with bright red color, then pick up the cylindrical bottle with narrow neck.",
+    "Lift the red bottle and the rounded bottle with printed details with separate arms.",
+    "Grab the red bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Grab the red bottle with screw cap and pick up the smooth brown bottle.",
+    "Pick up the medium-size plastic bottle, then pick up the rounded bottle with printed details.",
+    "Hold the red bottle with white bottom text in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Catch the bottle with red cap in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Catch both the plastic bottle and the medium bottle with smooth texture quickly.",
+    "Grab the yellow text bottle, pick up the bottle with brown body and white top.",
+    "Grasp the red bottle with narrow neck first, then take the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the medium-size plastic bottle and the bottle with dark brown color.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the plastic bottle with printed label with the other.",
+    "Pick both the smooth red cylindrical bottle and the medium bottle with smooth texture one after another.",
+    "Hold the red bottle with white bottom text with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "With both arms, pick up the plastic bottle with bright red color, then the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle, grab the plastic bottle with printed label next.",
+    "Use both arms to pick up the yellow text bottle and the medium bottle with smooth texture.",
+    "Use one arm for the medium-size plastic bottle and the other for the cylindrical bottle with narrow neck.",
+    "Hold onto the handheld plastic bottle, then pick up the handheld brown bottle with white lid.",
+    "Use each arm to lift the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the plastic bottle with printed label.",
+    "Hold onto the red bottle with curved grooves and then get the bottle with brown body and white top.",
+    "Catch the yellow text bottle, then grab the medium plastic bottle too.",
+    "Grab the plastic bottle using one arm and the medium plastic bottle using the other.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the plastic bottle with printed label.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the handheld brown bottle with white lid.",
+    "Take hold of the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the bottle with dark brown color.",
+    "Lift both the smooth red cylindrical bottle and the plastic bottle with printed label simultaneously.",
+    "Use both arms to lift the handheld plastic bottle and the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with curved grooves, another for the bottle with brown body and white top."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode12.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..c27f95c0adb482819fb8698892898a5cca32e544
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With both arms, pick up the red bottle with narrow neck, then the bottle with dark brown color.",
+    "Take hold of the handheld plastic bottle and the bottle with brown body and white top.",
+    "Catch the red bottle, grab the plastic bottle with printed label next.",
+    "Grab the plastic bottle with bright red color with one arm, the bottle with dark brown color with the other.",
+    "Grasp the red bottle first, then take the handheld brown bottle with white lid.",
+    "Use both arms to pick up the handheld plastic bottle and the rounded bottle with printed details.",
+    "Grab the plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Secure the medium-size plastic bottle and the bottle with brown body and white top in succession.",
+    "Secure the red bottle with narrow neck, then secure the plastic bottle for liquids.",
+    "Use each arm to lift the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the bottle with red cap with one arm, the plastic bottle for liquids with the other.",
+    "Assign one arm to catch the handheld plastic bottle, one for the white-capped brown cylindrical bottle.",
+    "Lift the red bottle and also take hold of the bottle with brown body and white top.",
+    "Catch the bottle with red cap in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Pick up both the yellow text bottle and the rounded bottle with printed details.",
+    "One arm grabs the bottle with red cap; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Use one arm for the yellow text bottle, another for the bottle with white cap.",
+    "Lift both the yellow text bottle and the bottle with brown body and white top simultaneously.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Catch the red bottle with white bottom text, then catch the medium bottle with smooth texture.",
+    "Pick both the red bottle with screw cap and the cylindrical bottle with narrow neck one after another.",
+    "Hold both the red bottle with curved grooves and the bottle with white cap.",
+    "Grab the plastic bottle with bright red color and pick up the plastic bottle with printed label.",
+    "Catch both the red bottle with curved grooves and the handheld brown bottle with white lid quickly.",
+    "Hold the handheld plastic bottle in one arm, the medium plastic bottle in the other.",
+    "Catch the handheld plastic bottle, then grab the rounded bottle with printed details too.",
+    "Lift the red bottle with screw cap, continue and pick up the white-capped brown cylindrical bottle.",
+    "Pick up the smooth red cylindrical bottle, then pick up the smooth brown bottle.",
+    "Lift the red bottle with white bottom text and the smooth brown bottle with separate arms.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the plastic bottle for liquids.",
+    "Let each arm grab either the red bottle with white bottom text or the smooth brown bottle.",
+    "Grab the red bottle using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Each arm should pick up one: the handheld plastic bottle, then the medium bottle with smooth texture.",
+    "With two arms, catch both the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the white-capped brown cylindrical bottle.",
+    "Catch the yellow text bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Pick up the medium-size plastic bottle and then pick up the rounded bottle with printed details.",
+    "Collect the handheld plastic bottle, then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves, pick up the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap and then get the bottle with white cap.",
+    "Use one arm for the plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with narrow neck and the medium plastic bottle together.",
+    "Secure both the plastic bottle with bright red color and the bottle with brown body and white top quickly.",
+    "Use both arms to pick up the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle, then pick up the plastic bottle for liquids.",
+    "Catch the red bottle with white bottom text, then take hold of the handheld brown bottle with white lid.",
+    "Assign one arm to each of the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Hold the red bottle with white bottom text with one arm, hold the medium plastic bottle with the other.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "With both arms, pick up the handheld plastic bottle, then the medium bottle with smooth texture.",
+    "Take hold of the red bottle with narrow neck and the smooth brown bottle.",
+    "Catch the bottle with red cap, grab the plastic bottle for liquids next.",
+    "Grab the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Grasp the plastic bottle first, then take the bottle with dark brown color.",
+    "Use both arms to pick up the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Grab the bottle with red cap using one arm and the plastic bottle for liquids using the other.",
+    "Secure the red bottle with white bottom text and the bottle with dark brown color in succession.",
+    "Secure the smooth red cylindrical bottle, then secure the bottle with brown body and white top.",
+    "Use each arm to lift the plastic bottle and the smooth brown bottle.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the plastic bottle with printed label with the other.",
+    "Assign one arm to catch the yellow text bottle, one for the handheld brown bottle with white lid.",
+    "Lift the red bottle and also take hold of the bottle with white cap.",
+    "Catch the red bottle with screw cap in one arm and the bottle with dark brown color in the other arm.",
+    "Pick up both the yellow text bottle and the plastic bottle with printed label.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the bottle with dark brown color.",
+    "Use one arm for the red bottle with curved grooves, another for the medium bottle with smooth texture.",
+    "Lift both the yellow text bottle and the plastic bottle with printed label simultaneously.",
+    "Grab the yellow text bottle with one arm, the smooth brown bottle with the other.",
+    "Catch the smooth red cylindrical bottle, then catch the medium bottle with smooth texture.",
+    "Pick both the yellow text bottle and the smooth brown bottle one after another.",
+    "Hold both the yellow text bottle and the bottle with dark brown color.",
+    "Grab the red bottle with curved grooves and pick up the bottle with white cap.",
+    "Catch both the medium-size plastic bottle and the smooth brown bottle quickly.",
+    "Hold the bottle with red cap in one arm, the medium plastic bottle in the other.",
+    "Catch the bottle with red cap, then grab the rounded bottle with printed details too.",
+    "Lift the handheld plastic bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Pick up the plastic bottle with bright red color, then pick up the medium plastic bottle.",
+    "Lift the bottle with red cap and the bottle with dark brown color with separate arms.",
+    "Use one arm for the red bottle with screw cap and the other for the bottle with dark brown color.",
+    "Let each arm grab either the red bottle with narrow neck or the plastic bottle with printed label.",
+    "Grab the bottle with red cap using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Hold the red bottle with white bottom text in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the plastic bottle with printed label.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with white cap.",
+    "Grab and hold the red bottle, then grab the rounded bottle with printed details.",
+    "Catch the bottle with red cap with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Pick up the bottle with red cap and then pick up the medium bottle with smooth texture.",
+    "Collect the red bottle with curved grooves, then pick up the handheld brown bottle with white lid.",
+    "Grab the red bottle with curved grooves, pick up the medium bottle with smooth texture.",
+    "Hold onto the plastic bottle with bright red color and then get the white-capped brown cylindrical bottle.",
+    "Use one arm for the medium-size plastic bottle, the other for the medium plastic bottle.",
+    "Pick up both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck together.",
+    "Secure both the red bottle with white bottom text and the plastic bottle with printed label quickly.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with dark brown color.",
+    "Hold onto the handheld plastic bottle, then pick up the plastic bottle for liquids.",
+    "Catch the yellow text bottle, then take hold of the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the red bottle with narrow neck and the medium plastic bottle.",
+    "Hold the red bottle with white bottom text with one arm, hold the medium bottle with smooth texture with the other.",
+    "Use both arms to lift the plastic bottle with bright red color and the cylindrical bottle with narrow neck."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode13.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc4abaa6c543780ee484122e77a066e554ce345
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and hold the handheld plastic bottle, then grab the cylindrical bottle with narrow neck.",
+    "Lift both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Catch the red bottle with curved grooves in one arm and the rounded bottle with printed details in the other arm.",
+    "Assign one arm to catch the red bottle, one for the plastic bottle for liquids.",
+    "Use one arm for the yellow text bottle, the other for the rounded bottle with printed details.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the smooth brown bottle.",
+    "Secure the plastic bottle, then secure the bottle with white cap.",
+    "Hold onto the red bottle with narrow neck and then get the rounded bottle with printed details.",
+    "Grab the plastic bottle using an arm and the medium plastic bottle with the other arm.",
+    "Each arm should pick up one: the red bottle, then the medium bottle with smooth texture.",
+    "Grasp the red bottle first, then take the bottle with white cap.",
+    "Lift the red bottle with white bottom text and also take hold of the white-capped brown cylindrical bottle.",
+    "Hold onto the plastic bottle, then pick up the medium plastic bottle.",
+    "Hold the red bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Pick up both the red bottle and the plastic bottle with printed label.",
+    "Catch both the yellow text bottle and the rounded bottle with printed details quickly.",
+    "Pick both the red bottle with narrow neck and the cylindrical bottle with narrow neck one after another.",
+    "Use one arm for the red bottle with narrow neck, another for the medium bottle with smooth texture.",
+    "Use both arms to lift the plastic bottle with bright red color and the medium plastic bottle.",
+    "Use both arms to pick up the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Grab the yellow text bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up the handheld plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the plastic bottle and the rounded bottle with printed details.",
+    "Hold the red bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Catch the medium-size plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Grab the handheld plastic bottle and pick up the bottle with white cap.",
+    "Catch the medium-size plastic bottle, then catch the smooth brown bottle.",
+    "Catch the yellow text bottle, then take hold of the medium plastic bottle.",
+    "Use each arm to lift the red bottle and the medium bottle with smooth texture.",
+    "Lift the plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle with printed label with the other.",
+    "Hold the red bottle with screw cap in one arm, the plastic bottle for liquids in the other.",
+    "Lift the smooth red cylindrical bottle and the medium bottle with smooth texture with separate arms.",
+    "Secure the red bottle with narrow neck and the plastic bottle for liquids in succession.",
+    "Pick up the smooth red cylindrical bottle, then pick up the medium bottle with smooth texture.",
+    "Catch the bottle with red cap, then grab the smooth brown bottle too.",
+    "Use one arm for the plastic bottle and the other for the medium bottle with smooth texture.",
+    "Take hold of the handheld plastic bottle and the plastic bottle with printed label.",
+    "Grab the red bottle with white bottom text using one arm and the medium bottle with smooth texture using the other.",
+    "Hold both the plastic bottle and the smooth brown bottle.",
+    "Catch the plastic bottle, grab the smooth brown bottle next.",
+    "With both arms, pick up the red bottle with screw cap, then the bottle with white cap.",
+    "Assign one arm to each of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "With two arms, catch both the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Pick up both the yellow text bottle and the plastic bottle for liquids together.",
+    "Secure both the plastic bottle and the plastic bottle for liquids quickly.",
+    "Let each arm grab either the yellow text bottle or the bottle with dark brown color.",
+    "Grab the red bottle with narrow neck, pick up the bottle with white cap.",
+    "Collect the bottle with red cap, then pick up the bottle with white cap.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Grab and hold the red bottle with screw cap, then grab the bottle with dark brown color.",
+    "Lift both the handheld plastic bottle and the plastic bottle for liquids simultaneously.",
+    "Catch the handheld plastic bottle in one arm and the bottle with white cap in the other arm.",
+    "Assign one arm to catch the bottle with red cap, one for the rounded bottle with printed details.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the medium plastic bottle.",
+    "One arm grabs the red bottle; the other arm grabs the bottle with dark brown color.",
+    "Secure the red bottle with screw cap, then secure the medium plastic bottle.",
+    "Hold onto the bottle with red cap and then get the plastic bottle with printed label.",
+    "Grab the red bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with white cap.",
+    "Grasp the red bottle with curved grooves first, then take the white-capped brown cylindrical bottle.",
+    "Lift the plastic bottle with bright red color and also take hold of the handheld brown bottle with white lid.",
+    "Hold onto the plastic bottle, then pick up the handheld brown bottle with white lid.",
+    "Hold the red bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Pick up both the bottle with red cap and the smooth brown bottle.",
+    "Catch both the handheld plastic bottle and the bottle with brown body and white top quickly.",
+    "Pick both the red bottle with screw cap and the rounded bottle with printed details one after another.",
+    "Use one arm for the bottle with red cap, another for the bottle with white cap.",
+    "Use both arms to lift the plastic bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Grab the handheld plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Pick up the smooth red cylindrical bottle and then pick up the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle with printed label.",
+    "Hold the medium-size plastic bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Catch the red bottle with screw cap with one arm, the medium plastic bottle with another arm.",
+    "Grab the red bottle with narrow neck and pick up the bottle with white cap.",
+    "Catch the red bottle, then catch the medium plastic bottle.",
+    "Catch the smooth red cylindrical bottle, then take hold of the bottle with brown body and white top.",
+    "Use each arm to lift the plastic bottle and the bottle with white cap.",
+    "Lift the bottle with red cap, continue and pick up the smooth brown bottle.",
+    "Grab the medium-size plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Hold the red bottle with narrow neck in one arm, the medium bottle with smooth texture in the other.",
+    "Lift the red bottle with narrow neck and the bottle with brown body and white top with separate arms.",
+    "Secure the red bottle with curved grooves and the plastic bottle with printed label in succession.",
+    "Pick up the red bottle with white bottom text, then pick up the white-capped brown cylindrical bottle.",
+    "Catch the smooth red cylindrical bottle, then grab the bottle with dark brown color too.",
+    "Use one arm for the red bottle and the other for the smooth brown bottle.",
+    "Take hold of the red bottle with white bottom text and the bottle with white cap.",
+    "Grab the yellow text bottle using one arm and the medium bottle with smooth texture using the other.",
+    "Hold both the red bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with narrow neck, grab the plastic bottle with printed label next.",
+    "With both arms, pick up the bottle with red cap, then the handheld brown bottle with white lid.",
+    "Assign one arm to each of the red bottle and the plastic bottle with printed label.",
+    "With two arms, catch both the plastic bottle and the plastic bottle for liquids.",
+    "Pick up both the red bottle with curved grooves and the white-capped brown cylindrical bottle together.",
+    "Secure both the red bottle with white bottom text and the smooth brown bottle quickly.",
+    "Let each arm grab either the red bottle or the bottle with dark brown color.",
+    "Grab the red bottle with screw cap, pick up the medium bottle with smooth texture.",
+    "Collect the plastic bottle, then pick up the handheld brown bottle with white lid.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the smooth brown bottle with the other."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode14.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..061e712a68aae900ddaf38a0bf80a60882d4478f
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-size plastic bottle and pick up the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck using one arm and the bottle with white cap using the other.",
+    "With both arms, pick up the red bottle with narrow neck, then the rounded bottle with printed details.",
+    "Catch the red bottle with narrow neck, grab the smooth brown bottle next.",
+    "Hold the bottle with red cap in one arm, the bottle with brown body and white top in the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the smooth brown bottle.",
+    "With two arms, catch both the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Hold onto the red bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with narrow neck and the rounded bottle with printed details together.",
+    "Catch the bottle with red cap, then take hold of the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the plastic bottle and the bottle with white cap.",
+    "Catch the red bottle with white bottom text, then grab the plastic bottle with printed label too.",
+    "Pick up both the red bottle and the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the medium bottle with smooth texture with the other.",
+    "Use one arm for the bottle with red cap, another for the handheld brown bottle with white lid.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the smooth brown bottle.",
+    "Secure the red bottle, then secure the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle, then catch the plastic bottle with printed label.",
+    "Pick both the red bottle with white bottom text and the handheld brown bottle with white lid one after another.",
+    "Use one arm for the red bottle with screw cap, the other for the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle and the other for the smooth brown bottle.",
+    "One arm grabs the bottle with red cap; the other arm grabs the bottle with brown body and white top.",
+    "Hold onto the medium-size plastic bottle and then get the white-capped brown cylindrical bottle.",
+    "Lift the smooth red cylindrical bottle and the bottle with brown body and white top with separate arms.",
+    "Assign one arm to each of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Use both arms to lift the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Pick up the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Grab the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Lift both the medium-size plastic bottle and the smooth brown bottle simultaneously.",
+    "Take hold of the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Secure the medium-size plastic bottle and the bottle with dark brown color in succession.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Let each arm grab either the bottle with red cap or the medium plastic bottle.",
+    "Catch the medium-size plastic bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Grab and hold the red bottle with curved grooves, then grab the plastic bottle with printed label.",
+    "Collect the plastic bottle with bright red color, then pick up the smooth brown bottle.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the handheld brown bottle with white lid.",
+    "Lift the bottle with red cap, continue and pick up the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with screw cap and then pick up the medium bottle with smooth texture.",
+    "Grab the smooth red cylindrical bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Hold both the smooth red cylindrical bottle and the bottle with white cap.",
+    "Hold the red bottle with white bottom text with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Catch both the bottle with red cap and the bottle with dark brown color quickly.",
+    "Hold the plastic bottle with bright red color in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Catch the smooth red cylindrical bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Grasp the red bottle with narrow neck first, then take the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle, pick up the white-capped brown cylindrical bottle.",
+    "Secure both the handheld plastic bottle and the handheld brown bottle with white lid quickly.",
+    "Use each arm to lift the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle for liquids.",
+    "Grab the red bottle and pick up the bottle with dark brown color.",
+    "Grab the plastic bottle using one arm and the plastic bottle for liquids using the other.",
+    "With both arms, pick up the plastic bottle, then the rounded bottle with printed details.",
+    "Catch the red bottle, grab the bottle with white cap next.",
+    "Hold the smooth red cylindrical bottle in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Use both arms to pick up the medium-size plastic bottle and the plastic bottle for liquids.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with white cap.",
+    "Hold onto the bottle with red cap, then pick up the bottle with white cap.",
+    "Pick up both the bottle with red cap and the plastic bottle with printed label together.",
+    "Catch the plastic bottle with bright red color, then take hold of the bottle with white cap.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with white cap.",
+    "Catch the yellow text bottle, then grab the plastic bottle for liquids too.",
+    "Pick up both the red bottle with narrow neck and the bottle with dark brown color.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with the other.",
+    "Use one arm for the handheld plastic bottle, another for the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the bottle with brown body and white top.",
+    "Secure the plastic bottle, then secure the bottle with dark brown color.",
+    "Catch the plastic bottle with bright red color, then catch the plastic bottle with printed label.",
+    "Pick both the yellow text bottle and the cylindrical bottle with narrow neck one after another.",
+    "Use one arm for the red bottle with narrow neck, the other for the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle and the other for the rounded bottle with printed details.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the smooth brown bottle.",
+    "Hold onto the handheld plastic bottle and then get the medium bottle with smooth texture.",
+    "Lift the red bottle with screw cap and the rounded bottle with printed details with separate arms.",
+    "Assign one arm to each of the handheld plastic bottle and the bottle with dark brown color.",
+    "Use both arms to lift the red bottle with curved grooves and the smooth brown bottle.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with white cap.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Lift both the medium-size plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Take hold of the medium-size plastic bottle and the white-capped brown cylindrical bottle.",
+    "Secure the plastic bottle with bright red color and the bottle with brown body and white top in succession.",
+    "Grab the smooth red cylindrical bottle with one arm, the rounded bottle with printed details with the other.",
+    "Let each arm grab either the bottle with red cap or the handheld brown bottle with white lid.",
+    "Catch the red bottle with white bottom text in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Grab and hold the plastic bottle, then grab the plastic bottle for liquids.",
+    "Collect the smooth red cylindrical bottle, then pick up the rounded bottle with printed details.",
+    "Assign one arm to catch the red bottle with screw cap, one for the bottle with brown body and white top.",
+    "Lift the red bottle with screw cap, continue and pick up the rounded bottle with printed details.",
+    "Pick up the plastic bottle with bright red color and then pick up the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle using an arm and the smooth brown bottle with the other arm.",
+    "Hold both the plastic bottle and the bottle with brown body and white top.",
+    "Hold the medium-size plastic bottle with one arm, hold the rounded bottle with printed details with the other.",
+    "Catch both the red bottle with white bottom text and the plastic bottle for liquids quickly.",
+    "Hold the yellow text bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Catch the handheld plastic bottle with one arm, the bottle with white cap with another arm.",
+    "Grasp the plastic bottle first, then take the plastic bottle with printed label.",
+    "Grab the plastic bottle with bright red color, pick up the bottle with brown body and white top.",
+    "Secure both the plastic bottle and the plastic bottle for liquids quickly.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with white cap.",
+    "Lift the yellow text bottle and also take hold of the smooth brown bottle."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode15.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f5eb754d902334f51aba8cb80bcc903fefbc86
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle with white bottom text, then catch the bottle with white cap.",
+    "Pick up the medium-size plastic bottle and then pick up the bottle with dark brown color.",
+    "Use both arms to lift the red bottle with screw cap and the plastic bottle with printed label.",
+    "Assign one arm to catch the yellow text bottle, one for the plastic bottle with printed label.",
+    "Lift the yellow text bottle, continue and pick up the rounded bottle with printed details.",
+    "Hold onto the red bottle with screw cap and then get the bottle with white cap.",
+    "Use both arms to pick up the red bottle and the rounded bottle with printed details.",
+    "Pick up both the yellow text bottle and the medium plastic bottle.",
+    "Catch the smooth red cylindrical bottle, grab the rounded bottle with printed details next.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with dark brown color with the other.",
+    "Secure the red bottle with white bottom text and the rounded bottle with printed details in succession.",
+    "Take hold of the handheld plastic bottle and the plastic bottle with printed label.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the smooth brown bottle.",
+    "Collect the red bottle with narrow neck, then pick up the white-capped brown cylindrical bottle.",
+    "Grab the smooth red cylindrical bottle and pick up the plastic bottle with printed label.",
+    "Grab the handheld plastic bottle, pick up the medium plastic bottle.",
+    "Grab and hold the red bottle with curved grooves, then grab the handheld brown bottle with white lid.",
+    "Hold the plastic bottle in one arm, the bottle with white cap in the other.",
+    "Use one arm for the red bottle with screw cap, another for the medium plastic bottle.",
+    "Grab the red bottle with narrow neck with one arm, the plastic bottle for liquids with the other.",
+    "Catch the red bottle with narrow neck, then grab the bottle with brown body and white top too.",
+    "With two arms, catch both the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Catch the yellow text bottle in one arm and the bottle with white cap in the other arm.",
+    "Hold both the yellow text bottle and the handheld brown bottle with white lid.",
+    "Pick both the red bottle and the medium plastic bottle one after another.",
+    "Catch the medium-size plastic bottle, then take hold of the bottle with white cap.",
+    "Grab the red bottle with curved grooves using one arm and the bottle with white cap using the other.",
+    "Hold the red bottle with white bottom text with one arm, hold the bottle with dark brown color with the other.",
+    "Grasp the red bottle first, then take the smooth brown bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the medium plastic bottle.",
+    "Hold the red bottle with curved grooves in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Secure both the plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Assign one arm to each of the plastic bottle with bright red color and the bottle with white cap.",
+    "Catch the smooth red cylindrical bottle with one arm, the medium plastic bottle with another arm.",
+    "Hold onto the plastic bottle, then pick up the bottle with brown body and white top.",
+    "Pick up both the plastic bottle with bright red color and the bottle with dark brown color together.",
+    "Secure the red bottle, then secure the plastic bottle for liquids.",
+    "Catch both the red bottle and the medium plastic bottle quickly.",
+    "Lift both bottles, the red bottle with one arm, the smooth brown bottle with the other.",
+    "Grab the red bottle with narrow neck using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Lift the medium-size plastic bottle and the medium bottle with smooth texture with separate arms.",
+    "Lift the handheld plastic bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the smooth brown bottle.",
+    "Use both arms to pick up the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with curved grooves, then pick up the bottle with brown body and white top.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the smooth brown bottle.",
+    "Lift both the red bottle with screw cap and the bottle with white cap simultaneously.",
+    "Use each arm to lift the red bottle with white bottom text and the medium plastic bottle.",
+    "Use one arm for the bottle with red cap and the other for the bottle with white cap.",
+    "Let each arm grab either the bottle with red cap or the medium bottle with smooth texture.",
+    "Catch the red bottle with curved grooves, then catch the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with narrow neck and then pick up the bottle with dark brown color.",
+    "Use both arms to lift the red bottle with curved grooves and the bottle with brown body and white top.",
+    "Assign one arm to catch the plastic bottle, one for the medium plastic bottle.",
+    "Lift the handheld plastic bottle, continue and pick up the bottle with dark brown color.",
+    "Hold onto the smooth red cylindrical bottle and then get the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the yellow text bottle and the bottle with white cap.",
+    "Pick up both the plastic bottle and the bottle with brown body and white top.",
+    "Catch the medium-size plastic bottle, grab the bottle with brown body and white top next.",
+    "Grab the handheld plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Secure the red bottle with screw cap and the plastic bottle with printed label in succession.",
+    "Take hold of the medium-size plastic bottle and the medium plastic bottle.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Collect the red bottle with white bottom text, then pick up the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves and pick up the medium bottle with smooth texture.",
+    "Grab the smooth red cylindrical bottle, pick up the handheld brown bottle with white lid.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the handheld brown bottle with white lid.",
+    "Hold the red bottle with screw cap in one arm, the bottle with dark brown color in the other.",
+    "Use one arm for the red bottle with curved grooves, another for the plastic bottle for liquids.",
+    "Grab the plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Catch the plastic bottle, then grab the cylindrical bottle with narrow neck too.",
+    "With two arms, catch both the yellow text bottle and the bottle with brown body and white top.",
+    "Catch the smooth red cylindrical bottle in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Hold both the bottle with red cap and the plastic bottle with printed label.",
+    "Pick both the plastic bottle with bright red color and the bottle with brown body and white top one after another.",
+    "Catch the red bottle with screw cap, then take hold of the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck using one arm and the medium plastic bottle using the other.",
+    "Hold the red bottle with narrow neck with one arm, hold the plastic bottle for liquids with the other.",
+    "Grasp the red bottle first, then take the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the rounded bottle with printed details.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Secure both the bottle with red cap and the plastic bottle with printed label quickly.",
+    "Assign one arm to each of the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Pick up both the bottle with red cap and the handheld brown bottle with white lid together.",
+    "Secure the red bottle with white bottom text, then secure the plastic bottle for liquids.",
+    "Catch both the red bottle with screw cap and the bottle with white cap quickly.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the medium plastic bottle with the other.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with dark brown color with the other arm.",
+    "Lift the red bottle with white bottom text and the plastic bottle with printed label with separate arms.",
+    "Lift the medium-size plastic bottle and also take hold of the rounded bottle with printed details.",
+    "With both arms, pick up the medium-size plastic bottle, then the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Pick up the red bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the bottle with red cap, then the white-capped brown cylindrical bottle.",
+    "Lift both the handheld plastic bottle and the medium plastic bottle simultaneously.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle and the other for the medium plastic bottle.",
+    "Let each arm grab either the red bottle or the bottle with brown body and white top."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode16.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..33aeed834d3a7b327795a4b70a870ad93b30f941
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with screw cap, the other for the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves using one arm and the smooth brown bottle using the other.",
+    "With two arms, catch both the red bottle with screw cap and the medium plastic bottle.",
+    "Hold the handheld plastic bottle in one arm, the smooth brown bottle in the other.",
+    "Grab the yellow text bottle with one arm, the plastic bottle for liquids with the other.",
+    "Lift the bottle with red cap and also take hold of the medium bottle with smooth texture.",
+    "Use each arm to lift the handheld plastic bottle and the smooth brown bottle.",
+    "Grasp the yellow text bottle first, then take the medium plastic bottle.",
+    "Catch the yellow text bottle, grab the plastic bottle with printed label next.",
+    "Lift the plastic bottle and the bottle with white cap with separate arms.",
+    "Catch the red bottle, then catch the bottle with brown body and white top.",
+    "Pick up the smooth red cylindrical bottle and then pick up the bottle with white cap.",
+    "Assign one arm to each of the yellow text bottle and the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Pick up the red bottle, then pick up the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle with one arm, the medium plastic bottle with another arm.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Collect the red bottle with narrow neck, then pick up the smooth brown bottle.",
+    "Grab the red bottle with screw cap and pick up the bottle with white cap.",
+    "Secure the red bottle with narrow neck, then secure the bottle with white cap.",
+    "Secure the red bottle with white bottom text and the medium plastic bottle in succession.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the medium plastic bottle.",
+    "Grab the bottle with red cap, pick up the plastic bottle with printed label.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the bottle with brown body and white top.",
+    "With both arms, pick up the red bottle with white bottom text, then the plastic bottle with printed label.",
+    "Take hold of the bottle with red cap and the plastic bottle with printed label.",
+    "Hold the handheld plastic bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Lift both bottles, the bottle with red cap with one arm, the smooth brown bottle with the other.",
+    "Catch the plastic bottle with bright red color, then take hold of the bottle with white cap.",
+    "Let each arm grab either the red bottle or the smooth brown bottle.",
+    "Lift both the red bottle with white bottom text and the bottle with dark brown color simultaneously.",
+    "Grab the plastic bottle with bright red color using an arm and the bottle with dark brown color with the other arm.",
+    "Grab and hold the red bottle, then grab the plastic bottle for liquids.",
+    "Catch the red bottle in one arm and the smooth brown bottle in the other arm.",
+    "Use both arms to pick up the red bottle and the smooth brown bottle.",
+    "Hold both the yellow text bottle and the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with curved grooves and the other for the bottle with dark brown color.",
+    "Pick both the red bottle with narrow neck and the white-capped brown cylindrical bottle one after another.",
+    "Use both arms to pick up the medium-size plastic bottle and the smooth brown bottle.",
+    "Use both arms to lift the bottle with red cap and the smooth brown bottle.",
+    "Secure both the red bottle with curved grooves and the rounded bottle with printed details quickly.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle with bright red color, another for the bottle with dark brown color.",
+    "Catch both the red bottle with screw cap and the handheld brown bottle with white lid quickly.",
+    "Lift the handheld plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "Hold onto the plastic bottle with bright red color and then get the medium plastic bottle.",
+    "Pick up both the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Pick up both the red bottle with white bottom text and the bottle with dark brown color together.",
+    "Catch the handheld plastic bottle, then grab the plastic bottle with printed label too.",
+    "Hold onto the plastic bottle with bright red color, then pick up the bottle with white cap.",
+    "Use one arm for the bottle with red cap, the other for the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with brown body and white top.",
+    "Hold the bottle with red cap in one arm, the bottle with dark brown color in the other.",
+    "Grab the plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Lift the smooth red cylindrical bottle and also take hold of the bottle with brown body and white top.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Grasp the red bottle with screw cap first, then take the smooth brown bottle.",
+    "Catch the plastic bottle, grab the rounded bottle with printed details next.",
+    "Lift the plastic bottle and the white-capped brown cylindrical bottle with separate arms.",
+    "Catch the red bottle, then catch the bottle with brown body and white top.",
+    "Pick up the yellow text bottle and then pick up the smooth brown bottle.",
+    "Assign one arm to each of the bottle with red cap and the medium bottle with smooth texture.",
+    "Grab the yellow text bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Catch the red bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Hold the red bottle with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Collect the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Grab the yellow text bottle and pick up the smooth brown bottle.",
+    "Secure the red bottle, then secure the smooth brown bottle.",
+    "Secure the plastic bottle with bright red color and the rounded bottle with printed details in succession.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the handheld brown bottle with white lid.",
+    "Grab the smooth red cylindrical bottle, pick up the smooth brown bottle.",
+    "Assign one arm to catch the yellow text bottle, one for the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the medium-size plastic bottle, then the bottle with dark brown color.",
+    "Take hold of the red bottle with narrow neck and the bottle with white cap.",
+    "Hold the red bottle with narrow neck in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the bottle with brown body and white top with the other.",
+    "Catch the smooth red cylindrical bottle, then take hold of the bottle with white cap.",
+    "Let each arm grab either the plastic bottle or the bottle with dark brown color.",
+    "Lift both the red bottle with white bottom text and the bottle with brown body and white top simultaneously.",
+    "Grab the red bottle using an arm and the smooth brown bottle with the other arm.",
+    "Grab and hold the plastic bottle with bright red color, then grab the rounded bottle with printed details.",
+    "Catch the yellow text bottle in one arm and the bottle with brown body and white top in the other arm.",
+    "Use both arms to pick up the handheld plastic bottle and the bottle with white cap.",
+    "Hold both the red bottle with curved grooves and the bottle with dark brown color.",
+    "Use one arm for the red bottle with white bottom text and the other for the smooth brown bottle.",
+    "Pick both the bottle with red cap and the rounded bottle with printed details one after another.",
+    "Use both arms to pick up the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Use both arms to lift the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Secure both the red bottle with curved grooves and the handheld brown bottle with white lid quickly.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle, another for the plastic bottle with printed label.",
+    "Catch both the handheld plastic bottle and the medium plastic bottle quickly.",
+    "Lift the yellow text bottle, continue and pick up the medium bottle with smooth texture.",
+    "Hold onto the red bottle and then get the white-capped brown cylindrical bottle.",
+    "Pick up both the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Pick up both the medium-size plastic bottle and the medium plastic bottle together.",
+    "Catch the red bottle with white bottom text, then grab the bottle with white cap too.",
+    "Hold onto the red bottle with screw cap, then pick up the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode17.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb3dfb6712a2591a372b898b626f7874741cfeb
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with curved grooves and the bottle with brown body and white top with separate arms.",
+    "Hold onto the red bottle, then pick up the bottle with white cap.",
+    "Use one arm for the medium-size plastic bottle and the other for the bottle with white cap.",
+    "Secure the smooth red cylindrical bottle and the cylindrical bottle with narrow neck in succession.",
+    "Hold both the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Grab the plastic bottle, pick up the smooth brown bottle.",
+    "Secure both the handheld plastic bottle and the bottle with dark brown color quickly.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the bottle with brown body and white top.",
+    "Secure the handheld plastic bottle, then secure the medium plastic bottle.",
+    "Hold onto the handheld plastic bottle and then get the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the red bottle with white bottom text and the medium plastic bottle.",
+    "Catch the medium-size plastic bottle with one arm, the handheld brown bottle with white lid with another arm.",
+    "Pick up the bottle with red cap and then pick up the plastic bottle for liquids.",
+    "Lift both the smooth red cylindrical bottle and the bottle with white cap simultaneously.",
+    "Hold the red bottle with screw cap with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Grasp the red bottle first, then take the bottle with brown body and white top.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with brown body and white top with the other.",
+    "Use one arm for the medium-size plastic bottle, the other for the bottle with dark brown color.",
+    "Hold the medium-size plastic bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "Lift both bottles, the red bottle with one arm, the bottle with dark brown color with the other.",
+    "Use one arm for the red bottle, another for the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle and the medium plastic bottle.",
+    "Pick up both the red bottle with curved grooves and the medium plastic bottle.",
+    "With both arms, pick up the handheld plastic bottle, then the bottle with brown body and white top.",
+    "Hold the red bottle with narrow neck in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Catch both the yellow text bottle and the plastic bottle for liquids quickly.",
+    "Catch the bottle with red cap, then take hold of the handheld brown bottle with white lid.",
+    "Let each arm grab either the handheld plastic bottle or the medium bottle with smooth texture.",
+    "Lift the red bottle with curved grooves, continue and pick up the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle and pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the red bottle with screw cap and the smooth brown bottle.",
+    "Grab the plastic bottle using an arm and the medium bottle with smooth texture with the other arm.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the bottle with brown body and white top.",
+    "With two arms, catch both the plastic bottle and the handheld brown bottle with white lid.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, then grab the cylindrical bottle with narrow neck too.",
+    "Catch the plastic bottle, then catch the smooth brown bottle.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the plastic bottle with printed label.",
+    "Grab the red bottle with narrow neck with one arm, the bottle with brown body and white top with the other.",
+    "Take hold of the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Use both arms to lift the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves using one arm and the medium bottle with smooth texture using the other.",
+    "Catch the plastic bottle with bright red color, grab the cylindrical bottle with narrow neck next.",
+    "Lift the plastic bottle with bright red color and also take hold of the medium plastic bottle.",
+    "Pick both the bottle with red cap and the rounded bottle with printed details one after another.",
+    "Each arm should pick up one: the bottle with red cap, then the white-capped brown cylindrical bottle.",
+    "Collect the bottle with red cap, then pick up the medium bottle with smooth texture.",
+    "Use both arms to pick up the red bottle and the bottle with white cap.",
+    "Pick up both the bottle with red cap and the plastic bottle for liquids together.",
+    "Catch the plastic bottle in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Lift the bottle with red cap and the medium plastic bottle with separate arms.",
+    "Hold onto the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Use one arm for the yellow text bottle and the other for the bottle with white cap.",
+    "Secure the red bottle with white bottom text and the white-capped brown cylindrical bottle in succession.",
+    "Hold both the handheld plastic bottle and the bottle with white cap.",
+    "Grab the plastic bottle with bright red color, pick up the medium plastic bottle.",
+    "Secure both the red bottle with white bottom text and the bottle with dark brown color quickly.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the handheld brown bottle with white lid.",
+    "Secure the red bottle with narrow neck, then secure the bottle with dark brown color.",
+    "Hold onto the smooth red cylindrical bottle and then get the handheld brown bottle with white lid.",
+    "Use each arm to lift the red bottle with screw cap and the rounded bottle with printed details.",
+    "Catch the red bottle with screw cap with one arm, the medium bottle with smooth texture with another arm.",
+    "Pick up the red bottle with screw cap and then pick up the white-capped brown cylindrical bottle.",
+    "Lift both the handheld plastic bottle and the bottle with dark brown color simultaneously.",
+    "Hold the plastic bottle with one arm, hold the rounded bottle with printed details with the other.",
+    "Grasp the red bottle first, then take the medium plastic bottle.",
+    "Grab the medium-size plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Use one arm for the plastic bottle, the other for the bottle with dark brown color.",
+    "Hold the plastic bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the bottle with white cap with the other.",
+    "Use one arm for the yellow text bottle, another for the medium bottle with smooth texture.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Pick up both the plastic bottle and the smooth brown bottle.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the medium plastic bottle.",
+    "Hold the red bottle with screw cap in one arm, the bottle with dark brown color in the other.",
+    "Catch both the plastic bottle with bright red color and the handheld brown bottle with white lid quickly.",
+    "Catch the smooth red cylindrical bottle, then take hold of the bottle with white cap.",
+    "Let each arm grab either the handheld plastic bottle or the rounded bottle with printed details.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the bottle with white cap.",
+    "Grab the bottle with red cap and pick up the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with screw cap and the bottle with dark brown color.",
+    "Grab the red bottle with white bottom text using an arm and the smooth brown bottle with the other arm.",
+    "Grab and hold the handheld plastic bottle, then grab the plastic bottle with printed label.",
+    "With two arms, catch both the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Pick up the plastic bottle with bright red color, then pick up the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with screw cap, then grab the plastic bottle for liquids too.",
+    "Catch the yellow text bottle, then catch the bottle with dark brown color.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the bottle with white cap.",
+    "Grab the plastic bottle with bright red color with one arm, the handheld brown bottle with white lid with the other.",
+    "Take hold of the bottle with red cap and the plastic bottle for liquids.",
+    "Use both arms to lift the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Grab the handheld plastic bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Catch the medium-size plastic bottle, grab the bottle with dark brown color next.",
+    "Lift the medium-size plastic bottle and also take hold of the smooth brown bottle.",
+    "Pick both the red bottle with screw cap and the bottle with brown body and white top one after another.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the handheld brown bottle with white lid.",
+    "Collect the yellow text bottle, then pick up the bottle with dark brown color.",
+    "Use both arms to pick up the bottle with red cap and the bottle with white cap.",
+    "Pick up both the bottle with red cap and the medium plastic bottle together.",
+    "Catch the red bottle with narrow neck in one arm and the medium bottle with smooth texture in the other arm."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode18.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..49fbe511c274581a3b14419fea5fb6dbe38cb59c
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to lift the yellow text bottle and the handheld brown bottle with white lid.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the medium bottle with smooth texture with the other.",
+    "Take hold of the red bottle with white bottom text and the bottle with dark brown color.",
+    "With two arms, catch both the medium-size plastic bottle and the smooth brown bottle.",
+    "Assign one arm to each of the yellow text bottle and the bottle with dark brown color.",
+    "Use one arm for the bottle with red cap, another for the medium bottle with smooth texture.",
+    "Lift the red bottle with white bottom text and the cylindrical bottle with narrow neck with separate arms.",
+    "Use both arms to pick up the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Hold the smooth red cylindrical bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the bottle with dark brown color.",
+    "Pick up the yellow text bottle and then pick up the plastic bottle with printed label.",
+    "Lift the plastic bottle and also take hold of the smooth brown bottle.",
+    "Grasp the plastic bottle with bright red color first, then take the smooth brown bottle.",
+    "Grab the handheld plastic bottle with one arm, the bottle with white cap with the other.",
+    "Collect the red bottle with white bottom text, then pick up the medium plastic bottle.",
+    "Hold onto the medium-size plastic bottle, then pick up the bottle with white cap.",
+    "Grab the smooth red cylindrical bottle using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Pick up both the smooth red cylindrical bottle and the bottle with brown body and white top together.",
+    "Grab the red bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use each arm to lift the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Secure both the yellow text bottle and the cylindrical bottle with narrow neck quickly.",
+    "Each arm should pick up one: the bottle with red cap, then the smooth brown bottle.",
+    "With both arms, pick up the plastic bottle with bright red color, then the medium plastic bottle.",
+    "Catch the medium-size plastic bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "Secure the medium-size plastic bottle and the rounded bottle with printed details in succession.",
+    "Secure the plastic bottle, then secure the bottle with dark brown color.",
+    "Lift both the red bottle with white bottom text and the smooth brown bottle simultaneously.",
+    "Pick up the red bottle with narrow neck, then pick up the medium plastic bottle.",
+    "Use one arm for the plastic bottle, the other for the bottle with dark brown color.",
+    "Catch the smooth red cylindrical bottle, grab the medium plastic bottle next.",
+    "Catch the plastic bottle with bright red color, then grab the cylindrical bottle with narrow neck too.",
+    "Pick up both the red bottle with narrow neck and the bottle with dark brown color.",
+    "Catch the yellow text bottle, then catch the bottle with white cap.",
+    "Pick both the medium-size plastic bottle and the bottle with dark brown color one after another.",
+    "Catch the red bottle with screw cap with one arm, the bottle with dark brown color with another arm.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with dark brown color.",
+    "Grab the bottle with red cap using one arm and the bottle with dark brown color using the other.",
+    "Grab the handheld plastic bottle, pick up the plastic bottle with printed label.",
+    "Hold both the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Use one arm for the bottle with red cap and the other for the plastic bottle for liquids.",
+    "Grab the handheld plastic bottle and pick up the plastic bottle with printed label.",
+    "Let each arm grab either the red bottle or the white-capped brown cylindrical bottle.",
+    "Catch both the medium-size plastic bottle and the handheld brown bottle with white lid quickly.",
+    "Hold onto the yellow text bottle and then get the bottle with dark brown color.",
+    "Catch the handheld plastic bottle, then take hold of the medium bottle with smooth texture.",
+    "Grab and hold the red bottle with narrow neck, then grab the bottle with brown body and white top.",
+    "Hold the yellow text bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Lift the yellow text bottle, continue and pick up the rounded bottle with printed details.",
+    "Use both arms to lift the red bottle with screw cap and the plastic bottle with printed label.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Take hold of the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the red bottle and the handheld brown bottle with white lid.",
+    "Assign one arm to each of the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with narrow neck, another for the white-capped brown cylindrical bottle.",
+    "Lift the medium-size plastic bottle and the white-capped brown cylindrical bottle with separate arms.",
+    "Use both arms to pick up the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with screw cap in one arm, the smooth brown bottle in the other.",
+    "Assign one arm to catch the bottle with red cap, one for the plastic bottle for liquids.",
+    "Pick up the smooth red cylindrical bottle and then pick up the medium bottle with smooth texture.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle for liquids.",
+    "Grasp the handheld plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Collect the plastic bottle with bright red color, then pick up the plastic bottle for liquids.",
+    "Hold onto the handheld plastic bottle, then pick up the plastic bottle for liquids.",
+    "Grab the smooth red cylindrical bottle using an arm and the bottle with white cap with the other arm.",
+    "Pick up both the red bottle with white bottom text and the handheld brown bottle with white lid together.",
+    "Grab the red bottle with white bottom text with one arm, the medium plastic bottle with the other.",
+    "Use each arm to lift the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Secure both the plastic bottle with bright red color and the white-capped brown cylindrical bottle quickly.",
+    "Each arm should pick up one: the red bottle, then the bottle with dark brown color.",
+    "With both arms, pick up the bottle with red cap, then the cylindrical bottle with narrow neck.",
+    "Catch the yellow text bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Secure the red bottle with narrow neck and the plastic bottle with printed label in succession.",
+    "Secure the smooth red cylindrical bottle, then secure the rounded bottle with printed details.",
+    "Lift both the smooth red cylindrical bottle and the smooth brown bottle simultaneously.",
+    "Pick up the red bottle, then pick up the bottle with white cap.",
+    "Use one arm for the red bottle with white bottom text, the other for the rounded bottle with printed details.",
+    "Catch the smooth red cylindrical bottle, grab the white-capped brown cylindrical bottle next.",
+    "Catch the red bottle with curved grooves, then grab the white-capped brown cylindrical bottle too.",
+    "Pick up both the red bottle and the smooth brown bottle.",
+    "Catch the red bottle with curved grooves, then catch the bottle with brown body and white top.",
+    "Pick both the red bottle with narrow neck and the white-capped brown cylindrical bottle one after another.",
+    "Catch the bottle with red cap with one arm, the bottle with brown body and white top with another arm.",
+    "Use both arms to pick up the yellow text bottle and the plastic bottle for liquids.",
+    "Grab the red bottle with white bottom text using one arm and the rounded bottle with printed details using the other.",
+    "Grab the bottle with red cap, pick up the white-capped brown cylindrical bottle.",
+    "Hold both the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with narrow neck and the other for the plastic bottle for liquids.",
+    "Grab the red bottle with screw cap and pick up the plastic bottle for liquids.",
+    "Let each arm grab either the plastic bottle with bright red color or the handheld brown bottle with white lid.",
+    "Catch both the red bottle with screw cap and the plastic bottle with printed label quickly.",
+    "Hold onto the yellow text bottle and then get the smooth brown bottle.",
+    "Catch the red bottle with narrow neck, then take hold of the white-capped brown cylindrical bottle.",
+    "Grab and hold the bottle with red cap, then grab the bottle with brown body and white top.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Hold the red bottle with one arm, hold the smooth brown bottle with the other.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium plastic bottle."
+  ],
+  "unseen": [
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode19.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ab52129e40fcf5ae52a5a68b5c4ad79cb19539
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and hold the red bottle with narrow neck, then grab the handheld brown bottle with white lid.",
+    "Pick both the bottle with red cap and the medium plastic bottle one after another.",
+    "Catch the plastic bottle with bright red color, grab the plastic bottle for liquids next.",
+    "Catch the red bottle with screw cap, then take hold of the bottle with dark brown color.",
+    "Catch the bottle with red cap with one arm, the rounded bottle with printed details with another arm.",
+    "Collect the red bottle with narrow neck, then pick up the bottle with brown body and white top.",
+    "Assign one arm to catch the handheld plastic bottle, one for the plastic bottle for liquids.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the plastic bottle with printed label.",
+    "Lift the red bottle and also take hold of the smooth brown bottle.",
+    "Grab the bottle with red cap using an arm and the medium bottle with smooth texture with the other arm.",
+    "Lift the red bottle with curved grooves and the bottle with dark brown color with separate arms.",
+    "Hold onto the plastic bottle, then pick up the plastic bottle for liquids.",
+    "Grasp the red bottle with narrow neck first, then take the bottle with white cap.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "With both arms, pick up the yellow text bottle, then the handheld brown bottle with white lid.",
+    "Secure the red bottle, then secure the smooth brown bottle.",
+    "Each arm should pick up one: the plastic bottle, then the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Use both arms to lift the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "Use each arm to lift the red bottle with screw cap and the plastic bottle with printed label.",
+    "Use one arm for the bottle with red cap, the other for the medium plastic bottle.",
+    "Hold the red bottle with white bottom text in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Grab the bottle with red cap with one arm, the plastic bottle for liquids with the other.",
+    "Let each arm grab either the red bottle with screw cap or the medium bottle with smooth texture.",
+    "Lift both the red bottle with curved grooves and the bottle with white cap simultaneously.",
+    "Grab the bottle with red cap and pick up the cylindrical bottle with narrow neck.",
+    "Secure the yellow text bottle and the smooth brown bottle in succession.",
+    "Pick up the yellow text bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with white bottom text and then pick up the bottle with brown body and white top.",
+    "Hold the medium-size plastic bottle with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Lift both bottles, the plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Pick up both the plastic bottle and the medium bottle with smooth texture together.",
+    "Use one arm for the yellow text bottle and the other for the medium bottle with smooth texture.",
+    "Catch the yellow text bottle in one arm and the medium plastic bottle in the other arm.",
+    "With two arms, catch both the red bottle with screw cap and the plastic bottle for liquids.",
+    "Take hold of the yellow text bottle and the handheld brown bottle with white lid.",
+    "Catch the plastic bottle, then catch the medium plastic bottle.",
+    "Hold onto the plastic bottle with bright red color and then get the smooth brown bottle.",
+    "Use both arms to pick up the yellow text bottle and the smooth brown bottle.",
+    "Catch both the bottle with red cap and the rounded bottle with printed details quickly.",
+    "Assign one arm to each of the yellow text bottle and the bottle with dark brown color.",
+    "Use one arm for the plastic bottle with bright red color, another for the medium bottle with smooth texture.",
+    "Grab the smooth red cylindrical bottle with one arm, the medium plastic bottle with the other.",
+    "Secure both the plastic bottle and the medium bottle with smooth texture quickly.",
+    "Lift the handheld plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "Hold the red bottle with screw cap in one arm, catch the smooth brown bottle with the other arm.",
+    "Grab the plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Hold both the plastic bottle and the bottle with dark brown color.",
+    "Pick up both the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Grab the plastic bottle, pick up the rounded bottle with printed details.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the rounded bottle with printed details.",
+    "Pick both the yellow text bottle and the white-capped brown cylindrical bottle one after another.",
+    "Catch the red bottle with white bottom text, grab the smooth brown bottle next.",
+    "Catch the red bottle with narrow neck, then take hold of the bottle with dark brown color.",
+    "Catch the plastic bottle with bright red color with one arm, the bottle with dark brown color with another arm.",
+    "Collect the bottle with red cap, then pick up the handheld brown bottle with white lid.",
+    "Assign one arm to catch the bottle with red cap, one for the white-capped brown cylindrical bottle.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Lift the handheld plastic bottle and also take hold of the plastic bottle with printed label.",
+    "Grab the medium-size plastic bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "Lift the yellow text bottle and the handheld brown bottle with white lid with separate arms.",
+    "Hold onto the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Grasp the plastic bottle with bright red color first, then take the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the handheld plastic bottle and the rounded bottle with printed details.",
+    "With both arms, pick up the red bottle with curved grooves, then the handheld brown bottle with white lid.",
+    "Secure the medium-size plastic bottle, then secure the bottle with dark brown color.",
+    "Each arm should pick up one: the yellow text bottle, then the smooth brown bottle.",
+    "Catch the bottle with red cap, then grab the plastic bottle with printed label too.",
+    "Use both arms to lift the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Use each arm to lift the red bottle and the medium plastic bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the rounded bottle with printed details.",
+    "Hold the red bottle with narrow neck in one arm, the medium plastic bottle in the other.",
+    "Grab the red bottle with screw cap with one arm, the plastic bottle with printed label with the other.",
+    "Let each arm grab either the smooth red cylindrical bottle or the rounded bottle with printed details.",
+    "Lift both the plastic bottle with bright red color and the white-capped brown cylindrical bottle simultaneously.",
+    "Grab the handheld plastic bottle and pick up the plastic bottle with printed label.",
+    "Secure the bottle with red cap and the rounded bottle with printed details in succession.",
+    "Pick up the red bottle with white bottom text, then pick up the plastic bottle for liquids.",
+    "Pick up the red bottle with narrow neck and then pick up the bottle with dark brown color.",
+    "Hold the red bottle with curved grooves with one arm, hold the rounded bottle with printed details with the other.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Pick up both the red bottle and the plastic bottle for liquids together.",
+    "Use one arm for the red bottle with white bottom text and the other for the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "With two arms, catch both the plastic bottle and the white-capped brown cylindrical bottle.",
+    "Take hold of the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Catch the red bottle with white bottom text, then catch the plastic bottle with printed label.",
+    "Hold onto the yellow text bottle and then get the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Catch both the handheld plastic bottle and the plastic bottle with printed label quickly.",
+    "Assign one arm to each of the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Use one arm for the yellow text bottle, another for the bottle with white cap.",
+    "Grab the red bottle with white bottom text with one arm, the bottle with brown body and white top with the other.",
+    "Secure both the smooth red cylindrical bottle and the smooth brown bottle quickly.",
+    "Lift the plastic bottle, continue and pick up the bottle with white cap.",
+    "Hold the yellow text bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Grab the medium-size plastic bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Hold both the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Pick up both the plastic bottle and the bottle with brown body and white top.",
+    "Grab the red bottle, pick up the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode2.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2be7eeb6c060528c839d67c4a413c8c58d5f47a0
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the handheld plastic bottle and the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Pick up the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "Catch the bottle with red cap, then catch the bottle with white cap.",
+    "Use one arm for the red bottle with screw cap, another for the rounded bottle with printed details.",
+    "Lift the red bottle with curved grooves, continue and pick up the plastic bottle for liquids.",
+    "Use one arm for the red bottle with narrow neck, the other for the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with curved grooves in one arm, the plastic bottle with printed label in the other.",
+    "Grab and hold the medium-size plastic bottle, then grab the medium bottle with smooth texture.",
+    "Use each arm to lift the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Pick up both the red bottle and the white-capped brown cylindrical bottle.",
+    "Pick both the smooth red cylindrical bottle and the plastic bottle for liquids one after another.",
+    "Lift the smooth red cylindrical bottle and the medium bottle with smooth texture with separate arms.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with white cap.",
+    "Take hold of the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Hold the plastic bottle with bright red color with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Hold onto the bottle with red cap and then get the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle and the plastic bottle with printed label.",
+    "Catch the red bottle, then take hold of the plastic bottle with printed label.",
+    "Grab the red bottle with curved grooves with one arm, the medium plastic bottle with the other.",
+    "Secure the red bottle with curved grooves, then secure the bottle with dark brown color.",
+    "With both arms, pick up the red bottle with screw cap, then the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap using an arm and the medium bottle with smooth texture with the other arm.",
+    "Use one arm for the handheld plastic bottle and the other for the smooth brown bottle.",
+    "Catch the red bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Catch both the smooth red cylindrical bottle and the bottle with dark brown color quickly.",
+    "Pick up the plastic bottle and then pick up the smooth brown bottle.",
+    "Collect the plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the plastic bottle or the cylindrical bottle with narrow neck.",
+    "Hold the handheld plastic bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Secure the medium-size plastic bottle and the bottle with dark brown color in succession.",
+    "Use both arms to lift the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Catch the yellow text bottle, grab the bottle with white cap next.",
+    "Grab the medium-size plastic bottle using one arm and the plastic bottle for liquids using the other.",
+    "Hold both the plastic bottle with bright red color and the bottle with white cap.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the smooth brown bottle.",
+    "Assign one arm to catch the handheld plastic bottle, one for the handheld brown bottle with white lid.",
+    "Secure both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Hold onto the red bottle with curved grooves, then pick up the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Grab the smooth red cylindrical bottle with one arm, the plastic bottle for liquids with the other.",
+    "Use both arms to pick up the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck and pick up the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text, then grab the plastic bottle for liquids too.",
+    "Lift both bottles, the plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Lift both the red bottle and the bottle with dark brown color simultaneously.",
+    "Grab the red bottle with screw cap, pick up the smooth brown bottle.",
+    "Lift the red bottle with screw cap and also take hold of the plastic bottle with printed label.",
+    "Grasp the plastic bottle first, then take the medium bottle with smooth texture.",
+    "Pick up both the bottle with red cap and the bottle with dark brown color together.",
+    "Use both arms to pick up the plastic bottle and the bottle with white cap.",
+    "Catch the red bottle with curved grooves with one arm, the medium plastic bottle with another arm.",
+    "Pick up the plastic bottle, then pick up the smooth brown bottle.",
+    "Catch the red bottle with curved grooves, then catch the bottle with dark brown color.",
+    "Use one arm for the red bottle with curved grooves, another for the medium bottle with smooth texture.",
+    "Lift the red bottle with narrow neck, continue and pick up the rounded bottle with printed details.",
+    "Use one arm for the plastic bottle, the other for the bottle with brown body and white top.",
+    "Hold the smooth red cylindrical bottle in one arm, the medium plastic bottle in the other.",
+    "Grab and hold the handheld plastic bottle, then grab the plastic bottle for liquids.",
+    "Use each arm to lift the bottle with red cap and the plastic bottle with printed label.",
+    "Pick up both the yellow text bottle and the plastic bottle for liquids.",
+    "Pick both the red bottle with narrow neck and the smooth brown bottle one after another.",
+    "Lift the smooth red cylindrical bottle and the plastic bottle for liquids with separate arms.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the plastic bottle with printed label.",
+    "Take hold of the smooth red cylindrical bottle and the bottle with white cap.",
+    "Hold the plastic bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Hold onto the smooth red cylindrical bottle and then get the plastic bottle with printed label.",
+    "Assign one arm to each of the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Catch the red bottle with screw cap, then take hold of the white-capped brown cylindrical bottle.",
+    "Grab the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Secure the yellow text bottle, then secure the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the red bottle with screw cap, then the smooth brown bottle.",
+    "Grab the plastic bottle with bright red color using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Use one arm for the handheld plastic bottle and the other for the medium plastic bottle.",
+    "Catch the handheld plastic bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "Catch both the plastic bottle and the rounded bottle with printed details quickly.",
+    "Pick up the bottle with red cap and then pick up the bottle with brown body and white top.",
+    "Collect the red bottle, then pick up the plastic bottle with printed label.",
+    "Let each arm grab either the bottle with red cap or the bottle with white cap.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "Secure the red bottle with screw cap and the plastic bottle for liquids in succession.",
+    "Use both arms to lift the bottle with red cap and the medium plastic bottle.",
+    "Catch the medium-size plastic bottle, grab the rounded bottle with printed details next.",
+    "Grab the red bottle with narrow neck using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Hold both the red bottle with white bottom text and the bottle with white cap.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the rounded bottle with printed details.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the plastic bottle for liquids.",
+    "Secure both the red bottle with white bottom text and the plastic bottle for liquids quickly.",
+    "Hold onto the red bottle with narrow neck, then pick up the bottle with white cap.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with white cap.",
+    "Grab the medium-size plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with white bottom text and pick up the plastic bottle for liquids.",
+    "Catch the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck too.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the handheld brown bottle with white lid with the other.",
+    "Lift both the plastic bottle and the bottle with white cap simultaneously.",
+    "Grab the smooth red cylindrical bottle, pick up the bottle with white cap.",
+    "Lift the plastic bottle with bright red color and also take hold of the medium plastic bottle.",
+    "Grasp the red bottle with curved grooves first, then take the medium bottle with smooth texture.",
+    "Pick up both the red bottle and the medium bottle with smooth texture together."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode20.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a2c8473ea70f3b35a59c4c869ee6ac41cb1e58
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the medium-size plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Catch the bottle with red cap in one arm and the bottle with brown body and white top in the other arm.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "One arm grabs the red bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Catch the red bottle, grab the bottle with brown body and white top next.",
+    "Use both arms to lift the handheld plastic bottle and the plastic bottle for liquids.",
+    "Collect the plastic bottle with bright red color, then pick up the rounded bottle with printed details.",
+    "Secure the red bottle and the smooth brown bottle in succession.",
+    "Catch both the yellow text bottle and the cylindrical bottle with narrow neck quickly.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the white-capped brown cylindrical bottle.",
+    "Catch the smooth red cylindrical bottle, then grab the handheld brown bottle with white lid too.",
+    "Lift both the yellow text bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Hold onto the smooth red cylindrical bottle and then get the plastic bottle with printed label.",
+    "With two arms, catch both the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Hold both the red bottle and the white-capped brown cylindrical bottle.",
+    "Hold the handheld plastic bottle in one arm, catch the plastic bottle for liquids with the other arm.",
+    "With both arms, pick up the medium-size plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with screw cap with one arm, the bottle with brown body and white top with the other.",
+    "Secure the handheld plastic bottle, then secure the bottle with white cap.",
+    "Lift the red bottle with curved grooves and the medium bottle with smooth texture with separate arms.",
+    "Pick up the plastic bottle and then pick up the smooth brown bottle.",
+    "Pick up both the handheld plastic bottle and the medium bottle with smooth texture together.",
+    "Grab the plastic bottle and pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck, then take hold of the bottle with dark brown color.",
+    "Pick up the medium-size plastic bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Use one arm for the yellow text bottle and the other for the medium plastic bottle.",
+    "Assign one arm to catch the red bottle, one for the bottle with brown body and white top.",
+    "Grab the smooth red cylindrical bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Secure both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck quickly.",
+    "Hold onto the red bottle with curved grooves, then pick up the white-capped brown cylindrical bottle.",
+    "Hold the bottle with red cap with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Grab the yellow text bottle, pick up the handheld brown bottle with white lid.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with white cap.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle, another for the white-capped brown cylindrical bottle.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the plastic bottle with printed label.",
+    "Catch the plastic bottle with bright red color, then catch the bottle with brown body and white top.",
+    "Grab the red bottle with narrow neck using one arm and the rounded bottle with printed details using the other.",
+    "Let each arm grab either the bottle with red cap or the medium plastic bottle.",
+    "Lift the red bottle with screw cap and also take hold of the bottle with dark brown color.",
+    "Take hold of the bottle with red cap and the bottle with dark brown color.",
+    "Pick up both the handheld plastic bottle and the medium plastic bottle.",
+    "Catch the handheld plastic bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Pick both the handheld plastic bottle and the rounded bottle with printed details one after another.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the medium bottle with smooth texture with the other.",
+    "Grab the handheld plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Hold the red bottle with curved grooves in one arm, the plastic bottle with printed label in the other.",
+    "Use each arm to lift the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with screw cap, the other for the medium bottle with smooth texture.",
+    "Grasp the plastic bottle first, then take the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text in one arm and the medium bottle with smooth texture in the other arm.",
+    "Use both arms to pick up the plastic bottle and the rounded bottle with printed details.",
+    "One arm grabs the red bottle; the other arm grabs the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle, grab the plastic bottle for liquids next.",
+    "Use both arms to lift the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Collect the plastic bottle with bright red color, then pick up the plastic bottle for liquids.",
+    "Secure the red bottle with screw cap and the medium bottle with smooth texture in succession.",
+    "Catch both the yellow text bottle and the bottle with dark brown color quickly.",
+    "Assign one arm to each of the yellow text bottle and the rounded bottle with printed details.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, then grab the plastic bottle with printed label too.",
+    "Lift both the red bottle with narrow neck and the handheld brown bottle with white lid simultaneously.",
+    "Hold onto the red bottle with white bottom text and then get the medium plastic bottle.",
+    "With two arms, catch both the handheld plastic bottle and the plastic bottle for liquids.",
+    "Hold both the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Hold the plastic bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "With both arms, pick up the plastic bottle, then the medium bottle with smooth texture.",
+    "Grab the red bottle with screw cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Secure the plastic bottle with bright red color, then secure the bottle with white cap.",
+    "Lift the medium-size plastic bottle and the plastic bottle with printed label with separate arms.",
+    "Pick up the plastic bottle with bright red color and then pick up the plastic bottle for liquids.",
+    "Pick up both the red bottle with white bottom text and the bottle with dark brown color together.",
+    "Grab the smooth red cylindrical bottle and pick up the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, then take hold of the medium plastic bottle.",
+    "Pick up the red bottle, then pick up the handheld brown bottle with white lid.",
+    "Use one arm for the handheld plastic bottle and the other for the bottle with dark brown color.",
+    "Assign one arm to catch the handheld plastic bottle, one for the smooth brown bottle.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with brown body and white top with the other arm.",
+    "Secure both the red bottle with white bottom text and the white-capped brown cylindrical bottle quickly.",
+    "Hold onto the medium-size plastic bottle, then pick up the bottle with brown body and white top.",
+    "Hold the red bottle with white bottom text with one arm, hold the medium plastic bottle with the other.",
+    "Grab the plastic bottle, pick up the bottle with dark brown color.",
+    "Use both arms to pick up the red bottle and the plastic bottle for liquids.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with screw cap, another for the white-capped brown cylindrical bottle.",
+    "Lift the yellow text bottle, continue and pick up the bottle with white cap.",
+    "Catch the medium-size plastic bottle, then catch the medium bottle with smooth texture.",
+    "Grab the yellow text bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "Let each arm grab either the red bottle with narrow neck or the rounded bottle with printed details.",
+    "Lift the red bottle with screw cap and also take hold of the bottle with dark brown color.",
+    "Take hold of the red bottle with screw cap and the bottle with dark brown color.",
+    "Pick up both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Pick both the yellow text bottle and the bottle with dark brown color one after another.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Grab the smooth red cylindrical bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Hold the red bottle with narrow neck in one arm, the bottle with white cap in the other.",
+    "Use each arm to lift the plastic bottle with bright red color and the smooth brown bottle.",
+    "Use one arm for the plastic bottle, the other for the rounded bottle with printed details."
+  ],
+  "unseen": [
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode21.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac2aff2b8f00500032a71858f05e5cfbb046f5a
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and hold the red bottle, then grab the bottle with dark brown color.",
+    "Use each arm to lift the yellow text bottle and the medium bottle with smooth texture.",
+    "Grab the red bottle with narrow neck and pick up the plastic bottle with printed label.",
+    "Lift the red bottle with white bottom text and the medium bottle with smooth texture with separate arms.",
+    "Catch the red bottle with white bottom text, then grab the plastic bottle for liquids too.",
+    "Catch the red bottle with curved grooves, then take hold of the bottle with white cap.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with brown body and white top.",
+    "Pick up both the red bottle with white bottom text and the rounded bottle with printed details together.",
+    "Secure the medium-size plastic bottle and the white-capped brown cylindrical bottle in succession.",
+    "Secure both the smooth red cylindrical bottle and the smooth brown bottle quickly.",
+    "Catch the red bottle with white bottom text in one arm and the plastic bottle with printed label in the other arm.",
+    "Grab the red bottle with one arm, the bottle with brown body and white top with the other.",
+    "Use one arm for the red bottle with white bottom text, the other for the rounded bottle with printed details.",
+    "Grab the plastic bottle with bright red color with one arm, the smooth brown bottle with the other.",
+    "Hold the red bottle with white bottom text in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Pick both the bottle with red cap and the medium bottle with smooth texture one after another.",
+    "Catch the handheld plastic bottle, grab the bottle with brown body and white top next.",
+    "With both arms, pick up the bottle with red cap, then the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle, pick up the smooth brown bottle.",
+    "Hold onto the medium-size plastic bottle and then get the bottle with brown body and white top.",
+    "Each arm should pick up one: the handheld plastic bottle, then the rounded bottle with printed details.",
+    "Assign one arm to each of the red bottle with screw cap and the rounded bottle with printed details.",
+    "Hold the yellow text bottle in one arm, the rounded bottle with printed details in the other.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Pick up the bottle with red cap and then pick up the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with white bottom text and the other for the medium bottle with smooth texture.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Pick up the red bottle with white bottom text, then pick up the white-capped brown cylindrical bottle.",
+    "Hold the yellow text bottle with one arm, hold the rounded bottle with printed details with the other.",
+    "Catch the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Grab the red bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Use both arms to pick up the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Hold both the yellow text bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with screw cap, then catch the bottle with dark brown color.",
+    "Hold onto the handheld plastic bottle, then pick up the medium plastic bottle.",
+    "Use both arms to lift the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Lift both the red bottle with screw cap and the plastic bottle with printed label simultaneously.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the handheld brown bottle with white lid.",
+    "Grasp the smooth red cylindrical bottle first, then take the plastic bottle for liquids.",
+    "Collect the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Use one arm for the plastic bottle with bright red color, another for the rounded bottle with printed details.",
+    "Lift the red bottle, continue and pick up the plastic bottle with printed label.",
+    "Lift the bottle with red cap and also take hold of the bottle with white cap.",
+    "Assign one arm to catch the handheld plastic bottle, one for the plastic bottle for liquids.",
+    "Pick up both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Catch both the red bottle and the plastic bottle for liquids quickly.",
+    "Use both arms to pick up the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Grab the red bottle with screw cap using one arm and the bottle with dark brown color using the other.",
+    "Take hold of the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Secure the smooth red cylindrical bottle, then secure the bottle with dark brown color.",
+    "Grab and hold the red bottle with white bottom text, then grab the bottle with brown body and white top.",
+    "Use each arm to lift the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Grab the red bottle with narrow neck and pick up the medium bottle with smooth texture.",
+    "Lift the red bottle with narrow neck and the plastic bottle with printed label with separate arms.",
+    "Catch the plastic bottle, then grab the bottle with white cap too.",
+    "Catch the red bottle with narrow neck, then take hold of the bottle with brown body and white top.",
+    "Let each arm grab either the smooth red cylindrical bottle or the plastic bottle with printed label.",
+    "Pick up both the medium-size plastic bottle and the handheld brown bottle with white lid together.",
+    "Secure the red bottle and the bottle with dark brown color in succession.",
+    "Secure both the red bottle with curved grooves and the smooth brown bottle quickly.",
+    "Catch the bottle with red cap in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Grab the plastic bottle with bright red color with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use one arm for the plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Grab the handheld plastic bottle with one arm, the bottle with white cap with the other.",
+    "Hold the red bottle with curved grooves in one arm, catch the bottle with dark brown color with the other arm.",
+    "Pick both the yellow text bottle and the rounded bottle with printed details one after another.",
+    "Catch the smooth red cylindrical bottle, grab the bottle with white cap next.",
+    "With both arms, pick up the handheld plastic bottle, then the medium bottle with smooth texture.",
+    "Grab the plastic bottle with bright red color, pick up the bottle with white cap.",
+    "Hold onto the red bottle and then get the bottle with white cap.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the handheld brown bottle with white lid.",
+    "Assign one arm to each of the medium-size plastic bottle and the medium plastic bottle.",
+    "Hold the red bottle with white bottom text in one arm, the medium plastic bottle in the other.",
+    "With two arms, catch both the plastic bottle and the bottle with white cap.",
+    "Pick up the medium-size plastic bottle and then pick up the plastic bottle for liquids.",
+    "Use one arm for the yellow text bottle and the other for the plastic bottle with printed label.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the smooth brown bottle with the other.",
+    "Pick up the plastic bottle with bright red color, then pick up the rounded bottle with printed details.",
+    "Hold the bottle with red cap with one arm, hold the plastic bottle for liquids with the other.",
+    "Catch the red bottle with white bottom text with one arm, the medium plastic bottle with another arm.",
+    "Grab the plastic bottle with bright red color using an arm and the medium bottle with smooth texture with the other arm.",
+    "Use both arms to pick up the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Hold both the handheld plastic bottle and the bottle with white cap.",
+    "Catch the handheld plastic bottle, then catch the bottle with brown body and white top.",
+    "Hold onto the medium-size plastic bottle, then pick up the bottle with brown body and white top.",
+    "Use both arms to lift the red bottle and the medium bottle with smooth texture.",
+    "Lift both the red bottle with curved grooves and the medium bottle with smooth texture simultaneously.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with dark brown color.",
+    "Grasp the handheld plastic bottle first, then take the bottle with brown body and white top.",
+    "Collect the red bottle with narrow neck, then pick up the bottle with white cap.",
+    "Use one arm for the medium-size plastic bottle, another for the medium bottle with smooth texture.",
+    "Lift the red bottle with curved grooves, continue and pick up the handheld brown bottle with white lid.",
+    "Lift the red bottle and also take hold of the bottle with brown body and white top.",
+    "Assign one arm to catch the red bottle, one for the bottle with white cap.",
+    "Pick up both the handheld plastic bottle and the smooth brown bottle.",
+    "Catch both the medium-size plastic bottle and the rounded bottle with printed details quickly.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text using one arm and the plastic bottle for liquids using the other.",
+    "Take hold of the red bottle with screw cap and the plastic bottle with printed label.",
+    "Secure the red bottle with screw cap, then secure the medium bottle with smooth texture."
+  ],
+  "unseen": [
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode22.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc8d0e1eff19aad18d372db6b1d291d1f8d85e5
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the red bottle and the bottle with brown body and white top.",
+    "Pick up the plastic bottle with bright red color and then pick up the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Catch the red bottle with white bottom text, then take hold of the handheld brown bottle with white lid.",
+    "Catch the handheld plastic bottle, then grab the white-capped brown cylindrical bottle too.",
+    "Take hold of the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Use one arm for the yellow text bottle and the other for the plastic bottle with printed label.",
+    "Grab the plastic bottle with one arm, the bottle with white cap with the other.",
+    "Pick both the plastic bottle and the white-capped brown cylindrical bottle one after another.",
+    "Grab the handheld plastic bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Pick up both the yellow text bottle and the bottle with white cap together.",
+    "Hold the smooth red cylindrical bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Let each arm grab either the red bottle with white bottom text or the bottle with white cap.",
+    "Assign one arm to each of the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Hold the red bottle with curved grooves with one arm, hold the bottle with white cap with the other.",
+    "Catch the smooth red cylindrical bottle, grab the bottle with white cap next.",
+    "Pick up the smooth red cylindrical bottle, then pick up the medium bottle with smooth texture.",
+    "Hold onto the medium-size plastic bottle and then get the rounded bottle with printed details.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle for liquids.",
+    "Grab the plastic bottle and pick up the bottle with dark brown color.",
+    "Use both arms to pick up the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Collect the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Assign one arm to catch the red bottle, one for the bottle with dark brown color.",
+    "Catch the red bottle with screw cap with one arm, the medium plastic bottle with another arm.",
+    "Grab the bottle with red cap, pick up the plastic bottle for liquids.",
+    "Use each arm to lift the red bottle with screw cap and the plastic bottle for liquids.",
+    "Use one arm for the red bottle, the other for the handheld brown bottle with white lid.",
+    "Catch the yellow text bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Use both arms to lift the plastic bottle and the smooth brown bottle.",
+    "With two arms, catch both the plastic bottle with bright red color and the smooth brown bottle.",
+    "Grab and hold the red bottle with narrow neck, then grab the medium plastic bottle.",
+    "Secure the red bottle and the bottle with white cap in succession.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Hold both the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grasp the yellow text bottle first, then take the bottle with brown body and white top.",
+    "Secure the red bottle with narrow neck, then secure the plastic bottle with printed label.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium bottle with smooth texture.",
+    "Each arm should pick up one: the handheld plastic bottle, then the smooth brown bottle.",
+    "Catch both the handheld plastic bottle and the medium plastic bottle quickly.",
+    "Use one arm for the medium-size plastic bottle, another for the medium plastic bottle.",
+    "Catch the medium-size plastic bottle, then catch the smooth brown bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Lift the red bottle with narrow neck and the white-capped brown cylindrical bottle with separate arms.",
+    "Secure both the medium-size plastic bottle and the cylindrical bottle with narrow neck quickly.",
+    "Hold onto the red bottle with white bottom text, then pick up the plastic bottle with printed label.",
+    "With both arms, pick up the plastic bottle with bright red color, then the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Lift both the red bottle with curved grooves and the cylindrical bottle with narrow neck simultaneously.",
+    "Pick up both the red bottle and the medium bottle with smooth texture.",
+    "Use both arms to pick up the handheld plastic bottle and the medium plastic bottle.",
+    "Pick up the red bottle with curved grooves and then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with white cap with the other arm.",
+    "Catch the red bottle with screw cap, then take hold of the white-capped brown cylindrical bottle.",
+    "Catch the handheld plastic bottle, then grab the medium plastic bottle too.",
+    "Take hold of the red bottle with curved grooves and the smooth brown bottle.",
+    "Use one arm for the yellow text bottle and the other for the medium plastic bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the smooth brown bottle with the other.",
+    "Pick both the handheld plastic bottle and the bottle with white cap one after another.",
+    "Grab the yellow text bottle using one arm and the bottle with brown body and white top using the other.",
+    "Pick up both the red bottle with curved grooves and the plastic bottle for liquids together.",
+    "Hold the red bottle with curved grooves in one arm, the smooth brown bottle in the other.",
+    "Let each arm grab either the red bottle or the rounded bottle with printed details.",
+    "Assign one arm to each of the yellow text bottle and the medium plastic bottle.",
+    "Hold the yellow text bottle with one arm, hold the bottle with brown body and white top with the other.",
+    "Catch the yellow text bottle, grab the bottle with brown body and white top next.",
+    "Pick up the yellow text bottle, then pick up the bottle with white cap.",
+    "Hold onto the smooth red cylindrical bottle and then get the bottle with white cap.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with white cap.",
+    "Lift the bottle with red cap and also take hold of the medium bottle with smooth texture.",
+    "Grab the plastic bottle and pick up the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Collect the plastic bottle, then pick up the bottle with white cap.",
+    "Assign one arm to catch the red bottle, one for the handheld brown bottle with white lid.",
+    "Catch the red bottle with curved grooves with one arm, the rounded bottle with printed details with another arm.",
+    "Grab the bottle with red cap, pick up the plastic bottle with printed label.",
+    "Use each arm to lift the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Use one arm for the plastic bottle with bright red color, the other for the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Use both arms to lift the red bottle and the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the bottle with red cap and the handheld brown bottle with white lid.",
+    "Grab and hold the handheld plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "Secure the yellow text bottle and the bottle with brown body and white top in succession.",
+    "Hold the plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Hold both the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Grasp the handheld plastic bottle first, then take the bottle with dark brown color.",
+    "Secure the handheld plastic bottle, then secure the white-capped brown cylindrical bottle.",
+    "Lift the red bottle, continue and pick up the cylindrical bottle with narrow neck.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the smooth brown bottle.",
+    "Catch both the red bottle and the bottle with dark brown color quickly.",
+    "Use one arm for the yellow text bottle, another for the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text, then catch the bottle with brown body and white top.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Lift the red bottle with white bottom text and the handheld brown bottle with white lid with separate arms.",
+    "Secure both the red bottle with screw cap and the white-capped brown cylindrical bottle quickly.",
+    "Hold onto the medium-size plastic bottle, then pick up the medium bottle with smooth texture.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the plastic bottle for liquids.",
+    "Grab the red bottle with screw cap with one arm, the plastic bottle for liquids with the other.",
+    "Lift both the yellow text bottle and the handheld brown bottle with white lid simultaneously.",
+    "Pick up both the plastic bottle and the smooth brown bottle."
+  ],
+  "unseen": [
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode23.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..d68987adfc5dce94feda7bf0ae80c46464d4a1db
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle with narrow neck, then catch the handheld brown bottle with white lid.",
+    "Secure the plastic bottle with bright red color, then secure the medium bottle with smooth texture.",
+    "Use both arms to pick up the plastic bottle and the handheld brown bottle with white lid.",
+    "Lift the red bottle with screw cap and the smooth brown bottle with separate arms.",
+    "Use both arms to pick up the red bottle and the bottle with dark brown color.",
+    "Grasp the red bottle with narrow neck first, then take the smooth brown bottle.",
+    "Hold both the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Secure the red bottle and the plastic bottle for liquids in succession.",
+    "Catch the bottle with red cap with one arm, the smooth brown bottle with another arm.",
+    "Lift the red bottle with curved grooves and also take hold of the plastic bottle for liquids.",
+    "Grab the smooth red cylindrical bottle with one arm, the medium plastic bottle with the other.",
+    "Hold onto the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Hold onto the bottle with red cap and then get the plastic bottle with printed label.",
+    "Grab and hold the handheld plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "One arm grabs the yellow text bottle; the other arm grabs the bottle with dark brown color.",
+    "Pick up the red bottle with white bottom text and then pick up the medium bottle with smooth texture.",
+    "With both arms, pick up the red bottle with curved grooves, then the bottle with dark brown color.",
+    "Pick up both the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Catch the red bottle, then grab the bottle with brown body and white top too.",
+    "Use one arm for the medium-size plastic bottle, the other for the medium plastic bottle.",
+    "Grab the red bottle with curved grooves, pick up the smooth brown bottle.",
+    "Catch both the bottle with red cap and the cylindrical bottle with narrow neck quickly.",
+    "Use both arms to lift the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Assign one arm to catch the plastic bottle, one for the rounded bottle with printed details.",
+    "Use one arm for the red bottle with screw cap and the other for the bottle with brown body and white top.",
+    "Pick up the red bottle with curved grooves, then pick up the smooth brown bottle.",
+    "Lift both the red bottle with narrow neck and the bottle with dark brown color simultaneously.",
+    "Catch the medium-size plastic bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "Use one arm for the red bottle with narrow neck, another for the rounded bottle with printed details.",
+    "Assign one arm to each of the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the rounded bottle with printed details.",
+    "Lift the handheld plastic bottle, continue and pick up the medium plastic bottle.",
+    "Lift both bottles, the red bottle with one arm, the bottle with white cap with the other.",
+    "Take hold of the red bottle with screw cap and the plastic bottle for liquids.",
+    "Catch the red bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick up both the medium-size plastic bottle and the plastic bottle for liquids together.",
+    "Hold the red bottle with curved grooves with one arm, hold the plastic bottle for liquids with the other.",
+    "Grab the red bottle with one arm, the plastic bottle for liquids with the other.",
+    "Secure both the yellow text bottle and the smooth brown bottle quickly.",
+    "Catch the red bottle with white bottom text, grab the bottle with dark brown color next.",
+    "Grab the red bottle with curved grooves using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "With two arms, catch both the red bottle with screw cap and the plastic bottle with printed label.",
+    "Collect the plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with screw cap using one arm and the bottle with brown body and white top using the other.",
+    "Grab the medium-size plastic bottle and pick up the bottle with dark brown color.",
+    "Let each arm grab either the bottle with red cap or the plastic bottle for liquids.",
+    "Use each arm to lift the red bottle with screw cap and the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with curved grooves in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Hold the plastic bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Pick both the red bottle with curved grooves and the medium bottle with smooth texture one after another.",
+    "Catch the red bottle with screw cap, then catch the plastic bottle with printed label.",
+    "Secure the bottle with red cap, then secure the smooth brown bottle.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Lift the red bottle with curved grooves and the cylindrical bottle with narrow neck with separate arms.",
+    "Use both arms to pick up the red bottle with curved grooves and the bottle with dark brown color.",
+    "Grasp the plastic bottle first, then take the white-capped brown cylindrical bottle.",
+    "Hold both the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Secure the bottle with red cap and the white-capped brown cylindrical bottle in succession.",
+    "Catch the red bottle with narrow neck with one arm, the bottle with white cap with another arm.",
+    "Lift the red bottle with screw cap and also take hold of the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with the other.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the plastic bottle for liquids.",
+    "Hold onto the bottle with red cap and then get the handheld brown bottle with white lid.",
+    "Grab and hold the red bottle with narrow neck, then grab the handheld brown bottle with white lid.",
+    "One arm grabs the bottle with red cap; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle and then pick up the medium plastic bottle.",
+    "With both arms, pick up the red bottle with white bottom text, then the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with curved grooves, then grab the bottle with brown body and white top too.",
+    "Use one arm for the handheld plastic bottle, the other for the plastic bottle for liquids.",
+    "Grab the handheld plastic bottle, pick up the rounded bottle with printed details.",
+    "Catch both the yellow text bottle and the medium plastic bottle quickly.",
+    "Use both arms to lift the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Assign one arm to catch the red bottle, one for the rounded bottle with printed details.",
+    "Use one arm for the yellow text bottle and the other for the plastic bottle with printed label.",
+    "Pick up the red bottle with narrow neck, then pick up the white-capped brown cylindrical bottle.",
+    "Lift both the plastic bottle and the bottle with brown body and white top simultaneously.",
+    "Catch the red bottle with white bottom text in one arm and the rounded bottle with printed details in the other arm.",
+    "Use one arm for the red bottle with screw cap, another for the plastic bottle with printed label.",
+    "Assign one arm to each of the medium-size plastic bottle and the smooth brown bottle.",
+    "Each arm should pick up one: the plastic bottle, then the plastic bottle for liquids.",
+    "Lift the red bottle, continue and pick up the medium bottle with smooth texture.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the handheld brown bottle with white lid with the other.",
+    "Take hold of the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with narrow neck and the medium bottle with smooth texture together.",
+    "Hold the plastic bottle with one arm, hold the bottle with white cap with the other.",
+    "Grab the handheld plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Secure both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Catch the yellow text bottle, grab the white-capped brown cylindrical bottle next.",
+    "Grab the medium-size plastic bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "With two arms, catch both the red bottle with screw cap and the plastic bottle with printed label.",
+    "Collect the red bottle, then pick up the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck using one arm and the plastic bottle with printed label using the other.",
+    "Grab the red bottle with narrow neck and pick up the bottle with brown body and white top.",
+    "Let each arm grab either the bottle with red cap or the bottle with white cap.",
+    "Use each arm to lift the red bottle and the cylindrical bottle with narrow neck.",
+    "Hold the smooth red cylindrical bottle in one arm, the plastic bottle with printed label in the other.",
+    "Hold the medium-size plastic bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Pick both the bottle with red cap and the medium plastic bottle one after another."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode24.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..b808e9f333158dc686c1b74c3ad80790f8c5c506
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold both the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Catch the red bottle, grab the medium plastic bottle next.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the medium plastic bottle.",
+    "Lift the red bottle with narrow neck and also take hold of the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the handheld brown bottle with white lid.",
+    "With two arms, catch both the red bottle with white bottom text and the bottle with white cap.",
+    "Hold onto the handheld plastic bottle and then get the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap using an arm and the bottle with white cap with the other arm.",
+    "Catch the plastic bottle with bright red color with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Use one arm for the red bottle, another for the plastic bottle with printed label.",
+    "Hold the handheld plastic bottle in one arm, the rounded bottle with printed details in the other.",
+    "Lift both the smooth red cylindrical bottle and the bottle with dark brown color simultaneously.",
+    "Hold onto the plastic bottle, then pick up the rounded bottle with printed details.",
+    "Catch the plastic bottle, then take hold of the bottle with dark brown color.",
+    "Pick both the plastic bottle with bright red color and the handheld brown bottle with white lid one after another.",
+    "Grasp the medium-size plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the plastic bottle or the bottle with dark brown color.",
+    "Use one arm for the yellow text bottle, the other for the plastic bottle with printed label.",
+    "Grab the red bottle with curved grooves with one arm, the bottle with brown body and white top with the other.",
+    "Use both arms to pick up the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Use both arms to lift the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Grab the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the handheld plastic bottle in one arm and the bottle with brown body and white top in the other arm.",
+    "Lift the medium-size plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Grab the red bottle using one arm and the smooth brown bottle using the other.",
+    "Hold the red bottle with curved grooves in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Take hold of the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Pick up both the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Grab and hold the handheld plastic bottle, then grab the plastic bottle with printed label.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the smooth brown bottle with the other.",
+    "Collect the red bottle with narrow neck, then pick up the bottle with brown body and white top.",
+    "Pick up both the handheld plastic bottle and the white-capped brown cylindrical bottle together.",
+    "Use each arm to lift the red bottle with screw cap and the bottle with white cap.",
+    "Use both arms to pick up the red bottle with screw cap and the bottle with white cap.",
+    "Pick up the red bottle with curved grooves, then pick up the cylindrical bottle with narrow neck.",
+    "Secure both the yellow text bottle and the bottle with brown body and white top quickly.",
+    "Secure the plastic bottle and the plastic bottle with printed label in succession.",
+    "Use one arm for the red bottle with curved grooves and the other for the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the bottle with brown body and white top.",
+    "Secure the red bottle with white bottom text, then secure the plastic bottle with printed label.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Catch the smooth red cylindrical bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Lift the bottle with red cap, continue and pick up the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, then catch the medium plastic bottle.",
+    "Grab the yellow text bottle and pick up the bottle with brown body and white top.",
+    "Catch both the bottle with red cap and the smooth brown bottle quickly.",
+    "With both arms, pick up the red bottle with white bottom text, then the medium plastic bottle.",
+    "Hold the medium-size plastic bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Pick up the plastic bottle and then pick up the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle, pick up the bottle with brown body and white top.",
+    "Hold both the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Catch the plastic bottle with bright red color, grab the white-capped brown cylindrical bottle next.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with curved grooves and also take hold of the plastic bottle with printed label.",
+    "Assign one arm to catch the yellow text bottle, one for the plastic bottle for liquids.",
+    "With two arms, catch both the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Hold onto the red bottle and then get the medium plastic bottle.",
+    "Grab the smooth red cylindrical bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Catch the red bottle with curved grooves with one arm, the plastic bottle for liquids with another arm.",
+    "Use one arm for the handheld plastic bottle, another for the cylindrical bottle with narrow neck.",
+    "Hold the bottle with red cap in one arm, the plastic bottle for liquids in the other.",
+    "Lift both the red bottle with narrow neck and the medium bottle with smooth texture simultaneously.",
+    "Hold onto the plastic bottle, then pick up the plastic bottle for liquids.",
+    "Catch the plastic bottle with bright red color, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick both the plastic bottle and the plastic bottle with printed label one after another.",
+    "Grasp the plastic bottle first, then take the medium bottle with smooth texture.",
+    "Let each arm grab either the red bottle with curved grooves or the white-capped brown cylindrical bottle.",
+    "Use one arm for the handheld plastic bottle, the other for the white-capped brown cylindrical bottle.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with white cap with the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Use both arms to lift the yellow text bottle and the bottle with white cap.",
+    "Grab the smooth red cylindrical bottle with one arm, the rounded bottle with printed details with the other.",
+    "Catch the smooth red cylindrical bottle in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Lift the medium-size plastic bottle and the handheld brown bottle with white lid with separate arms.",
+    "Grab the red bottle with narrow neck using one arm and the medium plastic bottle using the other.",
+    "Hold the handheld plastic bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "Take hold of the red bottle with narrow neck and the smooth brown bottle.",
+    "Pick up both the bottle with red cap and the medium plastic bottle.",
+    "Grab and hold the red bottle with screw cap, then grab the bottle with white cap.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the plastic bottle with printed label with the other.",
+    "Collect the handheld plastic bottle, then pick up the smooth brown bottle.",
+    "Pick up both the bottle with red cap and the smooth brown bottle together.",
+    "Use each arm to lift the red bottle with screw cap and the plastic bottle with printed label.",
+    "Use both arms to pick up the medium-size plastic bottle and the smooth brown bottle.",
+    "Pick up the plastic bottle with bright red color, then pick up the medium plastic bottle.",
+    "Secure both the red bottle with white bottom text and the rounded bottle with printed details quickly.",
+    "Secure the red bottle with white bottom text and the rounded bottle with printed details in succession.",
+    "Use one arm for the yellow text bottle and the other for the bottle with brown body and white top.",
+    "Each arm should pick up one: the plastic bottle, then the bottle with white cap.",
+    "Secure the plastic bottle, then secure the rounded bottle with printed details.",
+    "Assign one arm to each of the red bottle with white bottom text and the smooth brown bottle.",
+    "Catch the handheld plastic bottle, then grab the handheld brown bottle with white lid too.",
+    "Lift the bottle with red cap, continue and pick up the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, then catch the white-capped brown cylindrical bottle.",
+    "Grab the red bottle and pick up the smooth brown bottle.",
+    "Catch both the red bottle with narrow neck and the cylindrical bottle with narrow neck quickly.",
+    "With both arms, pick up the handheld plastic bottle, then the smooth brown bottle.",
+    "Hold the red bottle with screw cap with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Pick up the bottle with red cap and then pick up the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle, pick up the rounded bottle with printed details."
+  ],
+  "unseen": [
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode25.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..739d4cbd6e4d3644cf161a1ecc45804dfcb72523
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up both the bottle with red cap and the smooth brown bottle together.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with white cap.",
+    "Grasp the handheld plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Each arm should pick up one: the plastic bottle, then the bottle with dark brown color.",
+    "Catch the plastic bottle with one arm, the bottle with dark brown color with another arm.",
+    "Grab the bottle with red cap with one arm, the plastic bottle with printed label with the other.",
+    "Grab the medium-size plastic bottle using one arm and the medium bottle with smooth texture using the other.",
+    "Hold onto the plastic bottle and then get the bottle with dark brown color.",
+    "Hold onto the plastic bottle with bright red color, then pick up the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with screw cap and the bottle with white cap.",
+    "Secure the smooth red cylindrical bottle, then secure the bottle with dark brown color.",
+    "Hold the red bottle with screw cap in one arm, catch the bottle with dark brown color with the other arm.",
+    "Use one arm for the handheld plastic bottle, the other for the smooth brown bottle.",
+    "Lift both the medium-size plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Grab the red bottle with curved grooves and pick up the bottle with dark brown color.",
+    "Catch the red bottle with curved grooves, then take hold of the smooth brown bottle.",
+    "Catch the red bottle with curved grooves, grab the cylindrical bottle with narrow neck next.",
+    "Use one arm for the red bottle with narrow neck, another for the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Lift both bottles, the bottle with red cap with one arm, the plastic bottle for liquids with the other.",
+    "Grab the red bottle, pick up the handheld brown bottle with white lid.",
+    "Secure the plastic bottle with bright red color and the handheld brown bottle with white lid in succession.",
+    "Secure both the red bottle with white bottom text and the bottle with brown body and white top quickly.",
+    "Hold the bottle with red cap with one arm, hold the smooth brown bottle with the other.",
+    "Take hold of the handheld plastic bottle and the plastic bottle for liquids.",
+    "Catch the red bottle, then catch the plastic bottle for liquids.",
+    "Pick up the plastic bottle with bright red color and then pick up the medium plastic bottle.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the bottle with dark brown color.",
+    "Grab the plastic bottle with bright red color using an arm and the plastic bottle for liquids with the other arm.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Collect the bottle with red cap, then pick up the rounded bottle with printed details.",
+    "Grab and hold the red bottle with narrow neck, then grab the plastic bottle with printed label.",
+    "Use one arm for the plastic bottle with bright red color and the other for the handheld brown bottle with white lid.",
+    "With both arms, pick up the yellow text bottle, then the white-capped brown cylindrical bottle.",
+    "Catch the medium-size plastic bottle, then grab the smooth brown bottle too.",
+    "Hold both the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the smooth brown bottle.",
+    "Use both arms to lift the medium-size plastic bottle and the plastic bottle with printed label.",
+    "Catch both the smooth red cylindrical bottle and the medium bottle with smooth texture quickly.",
+    "Use both arms to pick up the red bottle with screw cap and the plastic bottle for liquids.",
+    "Lift the red bottle with curved grooves and also take hold of the bottle with white cap.",
+    "Catch the red bottle with white bottom text in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Pick up the red bottle, then pick up the bottle with dark brown color.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with dark brown color.",
+    "Hold the medium-size plastic bottle in one arm, the plastic bottle for liquids in the other.",
+    "Let each arm grab either the red bottle with white bottom text or the medium plastic bottle.",
+    "Pick both the handheld plastic bottle and the cylindrical bottle with narrow neck one after another.",
+    "Lift the red bottle with narrow neck, continue and pick up the plastic bottle for liquids.",
+    "Lift the red bottle with white bottom text and the bottle with dark brown color with separate arms.",
+    "Pick up both the yellow text bottle and the plastic bottle for liquids together.",
+    "With two arms, catch both the handheld plastic bottle and the plastic bottle for liquids.",
+    "Grasp the yellow text bottle first, then take the plastic bottle with printed label.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Each arm should pick up one: the yellow text bottle, then the plastic bottle with printed label.",
+    "Catch the smooth red cylindrical bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Grab the plastic bottle with bright red color with one arm, the medium plastic bottle with the other.",
+    "Grab the red bottle with white bottom text using one arm and the medium plastic bottle using the other.",
+    "Hold onto the medium-size plastic bottle and then get the rounded bottle with printed details.",
+    "Hold onto the plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Pick up both the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Secure the red bottle with curved grooves, then secure the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with curved grooves in one arm, catch the bottle with dark brown color with the other arm.",
+    "Use one arm for the medium-size plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Lift both the bottle with red cap and the medium plastic bottle simultaneously.",
+    "Grab the plastic bottle with bright red color and pick up the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle with bright red color, then take hold of the white-capped brown cylindrical bottle.",
+    "Catch the red bottle, grab the cylindrical bottle with narrow neck next.",
+    "Use one arm for the red bottle, another for the rounded bottle with printed details.",
+    "Grab the plastic bottle with bright red color with one arm, the bottle with brown body and white top with the other.",
+    "Lift both bottles, the yellow text bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Grab the red bottle with screw cap, pick up the plastic bottle with printed label.",
+    "Secure the medium-size plastic bottle and the smooth brown bottle in succession.",
+    "Secure both the red bottle with curved grooves and the rounded bottle with printed details quickly.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the bottle with white cap with the other.",
+    "Take hold of the red bottle with screw cap and the smooth brown bottle.",
+    "Catch the red bottle with white bottom text, then catch the rounded bottle with printed details.",
+    "Pick up the red bottle with narrow neck and then pick up the medium bottle with smooth texture.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Grab the bottle with red cap using an arm and the bottle with dark brown color with the other arm.",
+    "Assign one arm to each of the red bottle and the handheld brown bottle with white lid.",
+    "Collect the yellow text bottle, then pick up the plastic bottle with printed label.",
+    "Grab and hold the yellow text bottle, then grab the rounded bottle with printed details.",
+    "Use one arm for the red bottle with screw cap and the other for the rounded bottle with printed details.",
+    "With both arms, pick up the yellow text bottle, then the plastic bottle for liquids.",
+    "Catch the bottle with red cap, then grab the plastic bottle with printed label too.",
+    "Hold both the red bottle with white bottom text and the bottle with dark brown color.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the red bottle with screw cap and the plastic bottle for liquids.",
+    "Catch both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle quickly.",
+    "Use both arms to pick up the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Lift the plastic bottle and also take hold of the smooth brown bottle.",
+    "Catch the red bottle with screw cap in one arm and the medium plastic bottle in the other arm.",
+    "Pick up the plastic bottle with bright red color, then pick up the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the red bottle and the plastic bottle with printed label.",
+    "Hold the red bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Let each arm grab either the yellow text bottle or the bottle with dark brown color.",
+    "Pick both the red bottle and the rounded bottle with printed details one after another.",
+    "Lift the plastic bottle, continue and pick up the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with curved grooves and the handheld brown bottle with white lid with separate arms."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode26.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd48b9896939e1f4c8813ea31dc2c5ce1059b593
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Grab the red bottle using one arm and the bottle with white cap using the other.",
+    "Secure the red bottle with curved grooves, then secure the medium plastic bottle.",
+    "Use one arm for the red bottle with screw cap, the other for the cylindrical bottle with narrow neck.",
+    "Catch both the red bottle with narrow neck and the handheld brown bottle with white lid quickly.",
+    "Use one arm for the yellow text bottle and the other for the medium plastic bottle.",
+    "Grab the red bottle with narrow neck and pick up the bottle with white cap.",
+    "Use both arms to lift the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Pick both the red bottle with narrow neck and the bottle with brown body and white top one after another.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the smooth brown bottle.",
+    "Secure both the red bottle with narrow neck and the rounded bottle with printed details quickly.",
+    "Hold the red bottle with one arm, hold the medium plastic bottle with the other.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the medium bottle with smooth texture.",
+    "Hold the yellow text bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Catch the handheld plastic bottle, then take hold of the white-capped brown cylindrical bottle.",
+    "Grasp the smooth red cylindrical bottle first, then take the medium bottle with smooth texture.",
+    "Pick up the red bottle with white bottom text and then pick up the bottle with brown body and white top.",
+    "Pick up both the plastic bottle with bright red color and the bottle with dark brown color together.",
+    "Take hold of the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Grab the plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Pick up the plastic bottle, then pick up the bottle with dark brown color.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with dark brown color.",
+    "Use one arm for the red bottle, another for the bottle with dark brown color.",
+    "Lift both bottles, the bottle with red cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Collect the medium-size plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Use each arm to lift the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Pick up both the red bottle with curved grooves and the bottle with white cap.",
+    "Lift both the red bottle with screw cap and the plastic bottle for liquids simultaneously.",
+    "Hold the plastic bottle with bright red color in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Assign one arm to each of the handheld plastic bottle and the bottle with dark brown color.",
+    "Lift the plastic bottle with bright red color and the rounded bottle with printed details with separate arms.",
+    "Catch the yellow text bottle, grab the bottle with dark brown color next.",
+    "Grab the red bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Catch the yellow text bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Lift the plastic bottle with bright red color and also take hold of the medium bottle with smooth texture.",
+    "One arm grabs the bottle with red cap; the other arm grabs the smooth brown bottle.",
+    "Grab the red bottle with curved grooves with one arm, the plastic bottle with printed label with the other.",
+    "With both arms, pick up the red bottle with narrow neck, then the bottle with white cap.",
+    "Grab the red bottle with screw cap, pick up the bottle with brown body and white top.",
+    "Hold onto the red bottle and then get the rounded bottle with printed details.",
+    "Catch the bottle with red cap, then catch the smooth brown bottle.",
+    "Hold both the red bottle with screw cap and the rounded bottle with printed details.",
+    "With two arms, catch both the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Secure the red bottle with curved grooves and the medium bottle with smooth texture in succession.",
+    "Catch the plastic bottle, then grab the medium plastic bottle too.",
+    "Assign one arm to catch the red bottle, one for the bottle with dark brown color.",
+    "Catch the smooth red cylindrical bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Lift the red bottle with screw cap, continue and pick up the bottle with white cap.",
+    "Let each arm grab either the smooth red cylindrical bottle or the rounded bottle with printed details.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle using one arm and the medium bottle with smooth texture using the other.",
+    "Secure the red bottle with curved grooves, then secure the plastic bottle with printed label.",
+    "Use one arm for the red bottle with white bottom text, the other for the medium plastic bottle.",
+    "Catch both the red bottle with white bottom text and the bottle with dark brown color quickly.",
+    "Use one arm for the medium-size plastic bottle and the other for the plastic bottle for liquids.",
+    "Grab the handheld plastic bottle and pick up the plastic bottle for liquids.",
+    "Use both arms to lift the red bottle with narrow neck and the bottle with white cap.",
+    "Pick both the handheld plastic bottle and the bottle with white cap one after another.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Secure both the plastic bottle and the handheld brown bottle with white lid quickly.",
+    "Hold the plastic bottle with bright red color with one arm, hold the bottle with white cap with the other.",
+    "Hold onto the red bottle, then pick up the plastic bottle for liquids.",
+    "Hold the plastic bottle with bright red color in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Catch the plastic bottle with bright red color, then take hold of the bottle with white cap.",
+    "Grasp the bottle with red cap first, then take the plastic bottle for liquids.",
+    "Pick up the plastic bottle and then pick up the medium bottle with smooth texture.",
+    "Pick up both the red bottle with white bottom text and the medium plastic bottle together.",
+    "Take hold of the bottle with red cap and the medium plastic bottle.",
+    "Grab the plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Pick up the medium-size plastic bottle, then pick up the bottle with dark brown color.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the plastic bottle with printed label.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Use one arm for the smooth red cylindrical bottle, another for the bottle with white cap.",
+    "Lift both bottles, the red bottle with one arm, the medium plastic bottle with the other.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with dark brown color.",
+    "Use each arm to lift the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Pick up both the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Lift both the yellow text bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Hold the bottle with red cap in one arm, catch the smooth brown bottle with the other arm.",
+    "Assign one arm to each of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Lift the plastic bottle with bright red color and the bottle with brown body and white top with separate arms.",
+    "Catch the smooth red cylindrical bottle, grab the plastic bottle with printed label next.",
+    "Grab the handheld plastic bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Catch the yellow text bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Lift the red bottle with screw cap and also take hold of the bottle with brown body and white top.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the plastic bottle with printed label.",
+    "Grab the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "With both arms, pick up the red bottle with narrow neck, then the plastic bottle with printed label.",
+    "Grab the handheld plastic bottle, pick up the medium plastic bottle.",
+    "Hold onto the handheld plastic bottle and then get the plastic bottle with printed label.",
+    "Catch the red bottle with screw cap, then catch the bottle with white cap.",
+    "Hold both the red bottle with screw cap and the medium plastic bottle.",
+    "With two arms, catch both the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Secure the yellow text bottle and the bottle with brown body and white top in succession.",
+    "Catch the red bottle with white bottom text, then grab the medium bottle with smooth texture too.",
+    "Assign one arm to catch the red bottle with screw cap, one for the cylindrical bottle with narrow neck.",
+    "Catch the handheld plastic bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Lift the red bottle with curved grooves, continue and pick up the rounded bottle with printed details.",
+    "Let each arm grab either the red bottle with screw cap or the smooth brown bottle."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode27.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e5700da003edb55a45cfccd77f055efcf7eae30
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the smooth red cylindrical bottle in one arm, the plastic bottle with printed label in the other.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the plastic bottle with printed label.",
+    "Catch the medium-size plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the plastic bottle with printed label.",
+    "Grab the handheld plastic bottle and pick up the plastic bottle for liquids.",
+    "Take hold of the smooth red cylindrical bottle and the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with curved grooves in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Use both arms to pick up the handheld plastic bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Lift the handheld plastic bottle and the bottle with dark brown color with separate arms.",
+    "Grab and hold the red bottle with white bottom text, then grab the handheld brown bottle with white lid.",
+    "Let each arm grab either the handheld plastic bottle or the plastic bottle for liquids.",
+    "Use one arm for the plastic bottle with bright red color, the other for the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves using one arm and the bottle with brown body and white top using the other.",
+    "Lift the plastic bottle with bright red color, continue and pick up the plastic bottle for liquids.",
+    "Secure both the medium-size plastic bottle and the plastic bottle for liquids quickly.",
+    "With two arms, catch both the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "With both arms, pick up the bottle with red cap, then the plastic bottle with printed label.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle, grab the medium bottle with smooth texture next.",
+    "Secure the red bottle and the medium plastic bottle in succession.",
+    "Grasp the red bottle first, then take the rounded bottle with printed details.",
+    "Use one arm for the red bottle with curved grooves, another for the smooth brown bottle.",
+    "Pick up both the medium-size plastic bottle and the bottle with white cap together.",
+    "Catch the red bottle with curved grooves in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Pick up the medium-size plastic bottle and then pick up the handheld brown bottle with white lid.",
+    "Each arm should pick up one: the plastic bottle, then the medium plastic bottle.",
+    "Catch the red bottle with screw cap, then take hold of the rounded bottle with printed details.",
+    "Assign one arm to each of the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with narrow neck and the smooth brown bottle.",
+    "Pick both the medium-size plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Hold onto the plastic bottle with bright red color, then pick up the rounded bottle with printed details.",
+    "Hold onto the smooth red cylindrical bottle and then get the smooth brown bottle.",
+    "Grab the medium-size plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Catch the red bottle with white bottom text, then catch the bottle with brown body and white top.",
+    "Lift the smooth red cylindrical bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Use one arm for the handheld plastic bottle and the other for the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the red bottle with screw cap and the plastic bottle for liquids.",
+    "Use both arms to lift the red bottle with screw cap and the plastic bottle with printed label.",
+    "Secure the smooth red cylindrical bottle, then secure the plastic bottle with printed label.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the bottle with white cap with the other.",
+    "Pick up the plastic bottle, then pick up the plastic bottle for liquids.",
+    "Lift both the plastic bottle and the medium bottle with smooth texture simultaneously.",
+    "Hold the red bottle with narrow neck with one arm, hold the plastic bottle with printed label with the other.",
+    "Catch both the plastic bottle with bright red color and the bottle with brown body and white top quickly.",
+    "Hold both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Catch the bottle with red cap, then grab the cylindrical bottle with narrow neck too.",
+    "Grab the red bottle with screw cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Collect the red bottle, then pick up the plastic bottle for liquids.",
+    "Hold the handheld plastic bottle in one arm, the plastic bottle for liquids in the other.",
+    "One arm grabs the bottle with red cap; the other arm grabs the plastic bottle with printed label.",
+    "Catch the red bottle with white bottom text with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Assign one arm to catch the red bottle with screw cap, one for the cylindrical bottle with narrow neck.",
+    "Grab the yellow text bottle and pick up the white-capped brown cylindrical bottle.",
+    "Take hold of the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the red bottle with narrow neck and the medium plastic bottle.",
+    "Lift the red bottle with white bottom text and the plastic bottle with printed label with separate arms.",
+    "Grab and hold the medium-size plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the medium-size plastic bottle or the medium bottle with smooth texture.",
+    "Use one arm for the bottle with red cap, the other for the bottle with brown body and white top.",
+    "Grab the medium-size plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Lift the red bottle with screw cap, continue and pick up the medium bottle with smooth texture.",
+    "Secure both the medium-size plastic bottle and the smooth brown bottle quickly.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with brown body and white top.",
+    "Grab the plastic bottle with bright red color using an arm and the rounded bottle with printed details with the other arm.",
+    "With both arms, pick up the handheld plastic bottle, then the rounded bottle with printed details.",
+    "Grab the bottle with red cap, pick up the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, grab the handheld brown bottle with white lid next.",
+    "Secure the plastic bottle and the bottle with dark brown color in succession.",
+    "Grasp the red bottle with screw cap first, then take the bottle with white cap.",
+    "Use one arm for the plastic bottle with bright red color, another for the white-capped brown cylindrical bottle.",
+    "Pick up both the yellow text bottle and the bottle with white cap together.",
+    "Catch the smooth red cylindrical bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Pick up the red bottle with curved grooves and then pick up the plastic bottle for liquids.",
+    "Each arm should pick up one: the red bottle with screw cap, then the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, then take hold of the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Pick up both the handheld plastic bottle and the plastic bottle for liquids.",
+    "Pick both the medium-size plastic bottle and the cylindrical bottle with narrow neck one after another.",
+    "Hold onto the red bottle with narrow neck, then pick up the smooth brown bottle.",
+    "Hold onto the plastic bottle with bright red color and then get the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Catch the red bottle with screw cap, then catch the bottle with dark brown color.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle with printed label.",
+    "Use one arm for the bottle with red cap and the other for the bottle with white cap.",
+    "Use each arm to lift the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Use both arms to lift the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Secure the yellow text bottle, then secure the bottle with brown body and white top.",
+    "Lift both bottles, the red bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up the medium-size plastic bottle, then pick up the smooth brown bottle.",
+    "Lift both the plastic bottle with bright red color and the medium bottle with smooth texture simultaneously.",
+    "Hold the plastic bottle with bright red color with one arm, hold the medium plastic bottle with the other.",
+    "Catch both the plastic bottle and the rounded bottle with printed details quickly.",
+    "Hold both the red bottle with white bottom text and the medium plastic bottle.",
+    "Catch the smooth red cylindrical bottle, then grab the bottle with dark brown color too.",
+    "Grab the yellow text bottle with one arm, the smooth brown bottle with the other.",
+    "Collect the handheld plastic bottle, then pick up the bottle with white cap."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode28.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ad1a3ad13b27adac8ccc396d59ec15228faa35
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up both the red bottle with curved grooves and the bottle with white cap.",
+    "Hold both the red bottle with screw cap and the rounded bottle with printed details.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the bottle with brown body and white top.",
+    "Catch the red bottle with curved grooves in one arm and the medium bottle with smooth texture in the other arm.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck together.",
+    "With two arms, catch both the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Secure the red bottle with curved grooves, then secure the plastic bottle for liquids.",
+    "Catch the plastic bottle with bright red color, grab the cylindrical bottle with narrow neck next.",
+    "Use each arm to lift the red bottle with curved grooves and the smooth brown bottle.",
+    "Grab the medium-size plastic bottle and pick up the plastic bottle with printed label.",
+    "Grasp the plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Catch the smooth red cylindrical bottle, then catch the handheld brown bottle with white lid.",
+    "Take hold of the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Grab the yellow text bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Hold the plastic bottle with bright red color in one arm, the bottle with brown body and white top in the other.",
+    "Catch the red bottle, then take hold of the handheld brown bottle with white lid.",
+    "Each arm should pick up one: the red bottle with screw cap, then the medium plastic bottle.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with white cap.",
+    "Lift the yellow text bottle, continue and pick up the medium plastic bottle.",
+    "Hold the red bottle with narrow neck with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Grab the red bottle with screw cap with one arm, the bottle with dark brown color with the other.",
+    "Pick both the red bottle with screw cap and the bottle with white cap one after another.",
+    "Grab the medium-size plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Catch the plastic bottle, then grab the bottle with white cap too.",
+    "Lift the smooth red cylindrical bottle and the bottle with white cap with separate arms.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle with printed label.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with dark brown color.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the handheld brown bottle with white lid.",
+    "Lift both the bottle with red cap and the handheld brown bottle with white lid simultaneously.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Hold onto the smooth red cylindrical bottle and then get the bottle with brown body and white top.",
+    "Catch the red bottle with narrow neck with one arm, the smooth brown bottle with another arm.",
+    "Grab the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Pick up the yellow text bottle, then pick up the medium bottle with smooth texture.",
+    "Grab and hold the red bottle with narrow neck, then grab the bottle with dark brown color.",
+    "Use one arm for the bottle with red cap, the other for the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the bottle with white cap.",
+    "Let each arm grab either the red bottle or the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with white bottom text and the other for the plastic bottle with printed label.",
+    "Pick up the red bottle with white bottom text and then pick up the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the plastic bottle for liquids with the other.",
+    "Assign one arm to each of the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Grab the red bottle with curved grooves, pick up the bottle with white cap.",
+    "Collect the red bottle, then pick up the medium plastic bottle.",
+    "Use one arm for the red bottle with white bottom text, another for the bottle with dark brown color.",
+    "Hold the red bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "Catch both the plastic bottle with bright red color and the bottle with dark brown color quickly.",
+    "Lift the red bottle with screw cap and also take hold of the bottle with dark brown color.",
+    "Secure both the handheld plastic bottle and the medium plastic bottle quickly.",
+    "Secure the smooth red cylindrical bottle and the bottle with white cap in succession.",
+    "Pick up both the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Hold both the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "With both arms, pick up the bottle with red cap, then the white-capped brown cylindrical bottle.",
+    "Catch the red bottle in one arm and the bottle with brown body and white top in the other arm.",
+    "Pick up both the handheld plastic bottle and the rounded bottle with printed details together.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Secure the medium-size plastic bottle, then secure the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with curved grooves, grab the cylindrical bottle with narrow neck next.",
+    "Use each arm to lift the handheld plastic bottle and the plastic bottle with printed label.",
+    "Grab the bottle with red cap and pick up the bottle with white cap.",
+    "Grasp the red bottle with curved grooves first, then take the smooth brown bottle.",
+    "Catch the handheld plastic bottle, then catch the white-capped brown cylindrical bottle.",
+    "Take hold of the red bottle with screw cap and the bottle with brown body and white top.",
+    "Grab the plastic bottle with bright red color using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Hold the plastic bottle in one arm, the plastic bottle with printed label in the other.",
+    "Catch the medium-size plastic bottle, then take hold of the plastic bottle with printed label.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with dark brown color.",
+    "Use both arms to lift the yellow text bottle and the rounded bottle with printed details.",
+    "Lift the plastic bottle with bright red color, continue and pick up the medium bottle with smooth texture.",
+    "Hold the red bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Grab the handheld plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick both the yellow text bottle and the plastic bottle with printed label one after another.",
+    "Grab the medium-size plastic bottle using one arm and the bottle with dark brown color using the other.",
+    "Catch the medium-size plastic bottle, then grab the bottle with brown body and white top too.",
+    "Lift the red bottle with narrow neck and the white-capped brown cylindrical bottle with separate arms.",
+    "Use both arms to pick up the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Use both arms to pick up the plastic bottle and the medium plastic bottle.",
+    "Hold onto the red bottle with narrow neck, then pick up the medium plastic bottle.",
+    "Lift both the medium-size plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Hold onto the bottle with red cap and then get the bottle with white cap.",
+    "Catch the bottle with red cap with one arm, the plastic bottle with printed label with another arm.",
+    "Grab the bottle with red cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Pick up the red bottle with screw cap, then pick up the rounded bottle with printed details.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the bottle with dark brown color.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the bottle with brown body and white top.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the bottle with dark brown color.",
+    "Let each arm grab either the red bottle or the bottle with brown body and white top.",
+    "Use one arm for the medium-size plastic bottle and the other for the handheld brown bottle with white lid.",
+    "Pick up the red bottle with curved grooves and then pick up the medium bottle with smooth texture.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the medium plastic bottle with the other.",
+    "Assign one arm to each of the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle, pick up the smooth brown bottle.",
+    "Collect the yellow text bottle, then pick up the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle, another for the bottle with white cap.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Catch both the red bottle with white bottom text and the smooth brown bottle quickly.",
+    "Lift the plastic bottle with bright red color and also take hold of the medium bottle with smooth texture.",
+    "Secure both the yellow text bottle and the white-capped brown cylindrical bottle quickly.",
+    "Secure the plastic bottle with bright red color and the medium bottle with smooth texture in succession."
+  ],
+  "unseen": [
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode29.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..862b6228ee8480e3bda3c37fc6a3bcb5e7f2a19e
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with screw cap, continue and pick up the smooth brown bottle.",
+    "Use both arms to pick up the red bottle with curved grooves and the plastic bottle for liquids.",
+    "Lift both bottles, the bottle with red cap with one arm, the smooth brown bottle with the other.",
+    "Assign one arm to catch the plastic bottle, one for the bottle with dark brown color.",
+    "Secure both the red bottle with white bottom text and the white-capped brown cylindrical bottle quickly.",
+    "Each arm should pick up one: the handheld plastic bottle, then the handheld brown bottle with white lid.",
+    "Hold the red bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "Pick up both the handheld plastic bottle and the bottle with brown body and white top.",
+    "Take hold of the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Lift both the handheld plastic bottle and the plastic bottle for liquids simultaneously.",
+    "Catch both the bottle with red cap and the medium plastic bottle quickly.",
+    "Catch the medium-size plastic bottle, grab the bottle with white cap next.",
+    "Lift the plastic bottle with bright red color and also take hold of the plastic bottle with printed label.",
+    "Use one arm for the plastic bottle with bright red color, the other for the smooth brown bottle.",
+    "Hold the red bottle in one arm, the smooth brown bottle in the other.",
+    "Let each arm grab either the red bottle with screw cap or the plastic bottle with printed label.",
+    "Catch the bottle with red cap, then grab the plastic bottle with printed label too.",
+    "Catch the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with another arm.",
+    "Hold the yellow text bottle with one arm, hold the bottle with white cap with the other.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Catch the bottle with red cap, then catch the rounded bottle with printed details.",
+    "With two arms, catch both the red bottle and the handheld brown bottle with white lid.",
+    "Pick both the red bottle with screw cap and the bottle with dark brown color one after another.",
+    "Secure the handheld plastic bottle and the bottle with dark brown color in succession.",
+    "Catch the red bottle with narrow neck in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Hold onto the bottle with red cap and then get the medium plastic bottle.",
+    "Grab the yellow text bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Grab the bottle with red cap using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Use both arms to lift the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Grab the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Pick up the smooth red cylindrical bottle and then pick up the smooth brown bottle.",
+    "Pick up the yellow text bottle, then pick up the bottle with brown body and white top.",
+    "With both arms, pick up the bottle with red cap, then the handheld brown bottle with white lid.",
+    "Grab the red bottle with curved grooves, pick up the rounded bottle with printed details.",
+    "Lift the plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Assign one arm to each of the plastic bottle and the smooth brown bottle.",
+    "Hold onto the plastic bottle with bright red color, then pick up the rounded bottle with printed details.",
+    "Grab the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Hold both the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Secure the bottle with red cap, then secure the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle, then grab the plastic bottle with printed label.",
+    "Use one arm for the yellow text bottle, another for the handheld brown bottle with white lid.",
+    "Use each arm to lift the red bottle with white bottom text and the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle and the other for the plastic bottle with printed label.",
+    "Grasp the red bottle with narrow neck first, then take the handheld brown bottle with white lid.",
+    "Grab the yellow text bottle and pick up the rounded bottle with printed details.",
+    "Pick up both the yellow text bottle and the white-capped brown cylindrical bottle together.",
+    "Catch the bottle with red cap, then take hold of the bottle with brown body and white top.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle and the medium plastic bottle.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the medium bottle with smooth texture with the other.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the cylindrical bottle with narrow neck.",
+    "Secure both the red bottle and the bottle with white cap quickly.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the bottle with dark brown color.",
+    "Hold the plastic bottle in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Collect the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Pick up both the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Take hold of the plastic bottle with bright red color and the smooth brown bottle.",
+    "Lift both the red bottle with narrow neck and the smooth brown bottle simultaneously.",
+    "Catch both the medium-size plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Catch the handheld plastic bottle, grab the cylindrical bottle with narrow neck next.",
+    "Lift the smooth red cylindrical bottle and also take hold of the medium plastic bottle.",
+    "Use one arm for the plastic bottle with bright red color, the other for the plastic bottle for liquids.",
+    "Hold the red bottle with narrow neck in one arm, the handheld brown bottle with white lid in the other.",
+    "Let each arm grab either the red bottle with curved grooves or the medium plastic bottle.",
+    "Catch the smooth red cylindrical bottle, then grab the handheld brown bottle with white lid too.",
+    "Catch the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Hold the plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the plastic bottle with printed label.",
+    "Catch the red bottle, then catch the handheld brown bottle with white lid.",
+    "With two arms, catch both the yellow text bottle and the rounded bottle with printed details.",
+    "Pick both the red bottle with white bottom text and the bottle with dark brown color one after another.",
+    "Secure the red bottle with screw cap and the bottle with white cap in succession.",
+    "Catch the plastic bottle with bright red color in one arm and the bottle with brown body and white top in the other arm.",
+    "Hold onto the red bottle with narrow neck and then get the medium bottle with smooth texture.",
+    "Grab the plastic bottle with bright red color using an arm and the plastic bottle for liquids with the other arm.",
+    "Grab the plastic bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Use both arms to lift the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with white cap.",
+    "Pick up the red bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "With both arms, pick up the red bottle with narrow neck, then the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle with printed label.",
+    "Lift the red bottle with screw cap and the bottle with white cap with separate arms.",
+    "Assign one arm to each of the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle with white bottom text, then pick up the medium bottle with smooth texture.",
+    "Grab the red bottle with one arm, the rounded bottle with printed details with the other.",
+    "Hold both the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Secure the plastic bottle, then secure the bottle with brown body and white top.",
+    "Grab and hold the yellow text bottle, then grab the rounded bottle with printed details.",
+    "Use one arm for the red bottle, another for the bottle with dark brown color.",
+    "Use each arm to lift the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Use one arm for the plastic bottle with bright red color and the other for the bottle with dark brown color.",
+    "Grasp the red bottle with screw cap first, then take the rounded bottle with printed details.",
+    "Grab the yellow text bottle and pick up the medium bottle with smooth texture.",
+    "Pick up both the plastic bottle and the cylindrical bottle with narrow neck together.",
+    "Catch the red bottle with curved grooves, then take hold of the bottle with white cap."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode3.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea76c4a45446c13833fa5bec96fdbc3672bc1173
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold both the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Take hold of the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Grab the medium-size plastic bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Grab the red bottle with curved grooves with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Hold the plastic bottle in one arm, the bottle with dark brown color in the other.",
+    "Pick up the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Grab and hold the red bottle, then grab the bottle with brown body and white top.",
+    "Catch both the red bottle with curved grooves and the rounded bottle with printed details quickly.",
+    "Catch the plastic bottle with bright red color, then grab the rounded bottle with printed details too.",
+    "Pick up both the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle, another for the medium bottle with smooth texture.",
+    "Use each arm to lift the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Hold the handheld plastic bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Grab the medium-size plastic bottle, pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the yellow text bottle and the bottle with brown body and white top.",
+    "Pick up both the red bottle with narrow neck and the plastic bottle with printed label together.",
+    "Lift the plastic bottle and the bottle with brown body and white top with separate arms.",
+    "Secure the red bottle with narrow neck and the rounded bottle with printed details in succession.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the rounded bottle with printed details.",
+    "Grasp the medium-size plastic bottle first, then take the plastic bottle with printed label.",
+    "Use both arms to pick up the medium-size plastic bottle and the smooth brown bottle.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the plastic bottle for liquids.",
+    "Grab the red bottle with white bottom text and pick up the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Catch the smooth red cylindrical bottle, then take hold of the rounded bottle with printed details.",
+    "With two arms, catch both the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the plastic bottle with bright red color, then the plastic bottle for liquids.",
+    "Pick both the plastic bottle with bright red color and the bottle with brown body and white top one after another.",
+    "Collect the bottle with red cap, then pick up the bottle with white cap.",
+    "Catch the red bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with brown body and white top in the other arm.",
+    "Secure both the handheld plastic bottle and the plastic bottle for liquids quickly.",
+    "Lift both the red bottle with white bottom text and the bottle with brown body and white top simultaneously.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the bottle with dark brown color.",
+    "Catch the red bottle, grab the plastic bottle with printed label next.",
+    "Secure the red bottle with curved grooves, then secure the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the plastic bottle for liquids with the other.",
+    "Use one arm for the red bottle with narrow neck and the other for the rounded bottle with printed details.",
+    "Pick up the handheld plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Catch the red bottle with curved grooves, then catch the handheld brown bottle with white lid.",
+    "Lift the plastic bottle and also take hold of the plastic bottle with printed label.",
+    "Hold onto the red bottle with white bottom text and then get the plastic bottle for liquids.",
+    "Grab the bottle with red cap using one arm and the medium plastic bottle using the other.",
+    "Grab the yellow text bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the medium bottle with smooth texture.",
+    "Hold onto the plastic bottle with bright red color, then pick up the smooth brown bottle.",
+    "Hold the red bottle with screw cap with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Lift the medium-size plastic bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the bottle with red cap or the plastic bottle for liquids.",
+    "Hold both the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Take hold of the plastic bottle and the smooth brown bottle.",
+    "Grab the red bottle with white bottom text using an arm and the plastic bottle with printed label with the other arm.",
+    "Grab the plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Hold the bottle with red cap in one arm, the bottle with white cap in the other.",
+    "Pick up the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Grab and hold the red bottle with curved grooves, then grab the white-capped brown cylindrical bottle.",
+    "Catch both the handheld plastic bottle and the smooth brown bottle quickly.",
+    "Catch the handheld plastic bottle, then grab the medium bottle with smooth texture too.",
+    "Pick up both the plastic bottle with bright red color and the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle, another for the bottle with brown body and white top.",
+    "Use each arm to lift the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Hold the handheld plastic bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Grab the smooth red cylindrical bottle, pick up the medium plastic bottle.",
+    "Assign one arm to each of the bottle with red cap and the plastic bottle for liquids.",
+    "Pick up both the plastic bottle and the rounded bottle with printed details together.",
+    "Lift the red bottle with screw cap and the plastic bottle for liquids with separate arms.",
+    "Secure the red bottle with narrow neck and the bottle with dark brown color in succession.",
+    "Use one arm for the plastic bottle with bright red color, the other for the cylindrical bottle with narrow neck.",
+    "Grasp the plastic bottle with bright red color first, then take the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the plastic bottle with printed label.",
+    "Grab the red bottle with narrow neck and pick up the plastic bottle with printed label.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Catch the red bottle with screw cap, then take hold of the rounded bottle with printed details.",
+    "With two arms, catch both the medium-size plastic bottle and the rounded bottle with printed details.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the medium plastic bottle.",
+    "Pick both the bottle with red cap and the plastic bottle for liquids one after another.",
+    "Collect the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Catch the plastic bottle with bright red color with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Catch the red bottle with narrow neck in one arm and the medium bottle with smooth texture in the other arm.",
+    "Secure both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Lift both the plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the bottle with white cap.",
+    "Catch the bottle with red cap, grab the plastic bottle with printed label next.",
+    "Secure the red bottle with curved grooves, then secure the handheld brown bottle with white lid.",
+    "Lift both bottles, the red bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Use one arm for the medium-size plastic bottle and the other for the medium plastic bottle.",
+    "Pick up the medium-size plastic bottle and then pick up the smooth brown bottle.",
+    "Use both arms to lift the plastic bottle and the medium plastic bottle.",
+    "Catch the handheld plastic bottle, then catch the handheld brown bottle with white lid.",
+    "Lift the red bottle with narrow neck and also take hold of the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle with screw cap and then get the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with narrow neck using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Grab the plastic bottle with bright red color with one arm, the handheld brown bottle with white lid with the other.",
+    "One arm grabs the bottle with red cap; the other arm grabs the smooth brown bottle.",
+    "Hold onto the handheld plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "Lift the plastic bottle, continue and pick up the smooth brown bottle.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode30.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..036e4c6e3449a76a76eef2301db44e3a61efae20
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Let each arm grab either the medium-size plastic bottle or the medium plastic bottle.",
+    "Assign one arm to catch the plastic bottle, one for the white-capped brown cylindrical bottle.",
+    "Hold onto the medium-size plastic bottle and then get the smooth brown bottle.",
+    "Use one arm for the bottle with red cap, another for the rounded bottle with printed details.",
+    "Catch the medium-size plastic bottle in one arm and the medium plastic bottle in the other arm.",
+    "Use both arms to lift the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Use each arm to lift the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Catch the medium-size plastic bottle, then take hold of the medium bottle with smooth texture.",
+    "Grab the medium-size plastic bottle and pick up the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap, then pick up the medium bottle with smooth texture.",
+    "Secure the bottle with red cap and the bottle with dark brown color in succession.",
+    "Grasp the smooth red cylindrical bottle first, then take the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with narrow neck and also take hold of the medium bottle with smooth texture.",
+    "Lift both bottles, the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the red bottle with white bottom text, then grab the plastic bottle for liquids too.",
+    "Use both arms to pick up the red bottle with screw cap and the bottle with dark brown color.",
+    "Catch the medium-size plastic bottle, then catch the plastic bottle with printed label.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Catch the red bottle with white bottom text, grab the plastic bottle for liquids next.",
+    "Pick both the red bottle with white bottom text and the rounded bottle with printed details one after another.",
+    "Hold the medium-size plastic bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Secure both the red bottle with white bottom text and the bottle with brown body and white top quickly.",
+    "Use one arm for the red bottle with white bottom text and the other for the smooth brown bottle.",
+    "One arm grabs the plastic bottle; the other arm grabs the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck using an arm and the medium plastic bottle with the other arm.",
+    "Assign one arm to each of the bottle with red cap and the bottle with dark brown color.",
+    "Use one arm for the yellow text bottle, the other for the plastic bottle for liquids.",
+    "Grab the yellow text bottle, pick up the handheld brown bottle with white lid.",
+    "Take hold of the handheld plastic bottle and the bottle with dark brown color.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the smooth brown bottle.",
+    "Grab the red bottle with curved grooves with one arm, the plastic bottle with printed label with the other.",
+    "Pick up the yellow text bottle, then pick up the smooth brown bottle.",
+    "Grab the medium-size plastic bottle using one arm and the plastic bottle for liquids using the other.",
+    "Use both arms to pick up the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Hold both the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Hold the handheld plastic bottle with one arm, hold the medium plastic bottle with the other.",
+    "Catch both the smooth red cylindrical bottle and the medium plastic bottle quickly.",
+    "With both arms, pick up the red bottle with curved grooves, then the white-capped brown cylindrical bottle.",
+    "Pick up the handheld plastic bottle and then pick up the plastic bottle for liquids.",
+    "Grab the handheld plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Pick up both the handheld plastic bottle and the bottle with dark brown color together.",
+    "Collect the red bottle with white bottom text, then pick up the plastic bottle with printed label.",
+    "Lift both the red bottle with white bottom text and the bottle with brown body and white top simultaneously.",
+    "Pick up both the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Catch the handheld plastic bottle with one arm, the bottle with white cap with another arm.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the bottle with brown body and white top.",
+    "Lift the red bottle with curved grooves, continue and pick up the rounded bottle with printed details.",
+    "Lift the plastic bottle with bright red color and the bottle with dark brown color with separate arms.",
+    "Secure the plastic bottle, then secure the cylindrical bottle with narrow neck.",
+    "Hold the plastic bottle with bright red color in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Let each arm grab either the red bottle with screw cap or the bottle with dark brown color.",
+    "Assign one arm to catch the red bottle with screw cap, one for the cylindrical bottle with narrow neck.",
+    "Hold onto the yellow text bottle and then get the medium plastic bottle.",
+    "Use one arm for the yellow text bottle, another for the medium plastic bottle.",
+    "Catch the red bottle with screw cap in one arm and the bottle with dark brown color in the other arm.",
+    "Use both arms to lift the handheld plastic bottle and the medium plastic bottle.",
+    "Use each arm to lift the plastic bottle and the medium bottle with smooth texture.",
+    "Catch the bottle with red cap, then take hold of the medium bottle with smooth texture.",
+    "Grab the red bottle with screw cap and pick up the medium bottle with smooth texture.",
+    "Hold onto the red bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Secure the smooth red cylindrical bottle and the medium bottle with smooth texture in succession.",
+    "Grasp the bottle with red cap first, then take the bottle with dark brown color.",
+    "Lift the bottle with red cap and also take hold of the bottle with dark brown color.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the smooth brown bottle with the other.",
+    "Catch the red bottle with narrow neck, then grab the handheld brown bottle with white lid too.",
+    "Use both arms to pick up the bottle with red cap and the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, then catch the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the medium-size plastic bottle and the medium plastic bottle.",
+    "Catch the red bottle, grab the bottle with white cap next.",
+    "Pick both the plastic bottle with bright red color and the plastic bottle with printed label one after another.",
+    "Hold the red bottle with narrow neck in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Secure both the red bottle and the rounded bottle with printed details quickly.",
+    "Use one arm for the yellow text bottle and the other for the medium plastic bottle.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap using an arm and the rounded bottle with printed details with the other arm.",
+    "Assign one arm to each of the plastic bottle and the bottle with white cap.",
+    "Use one arm for the red bottle with curved grooves, the other for the plastic bottle with printed label.",
+    "Grab the plastic bottle, pick up the white-capped brown cylindrical bottle.",
+    "Take hold of the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium bottle with smooth texture.",
+    "Grab the bottle with red cap with one arm, the medium plastic bottle with the other.",
+    "Pick up the bottle with red cap, then pick up the smooth brown bottle.",
+    "Grab the smooth red cylindrical bottle using one arm and the smooth brown bottle using the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Hold both the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Hold the plastic bottle with bright red color with one arm, hold the medium plastic bottle with the other.",
+    "Catch both the red bottle with white bottom text and the plastic bottle for liquids quickly.",
+    "With both arms, pick up the red bottle with white bottom text, then the medium plastic bottle.",
+    "Pick up the smooth red cylindrical bottle and then pick up the smooth brown bottle.",
+    "Grab the red bottle with white bottom text with one arm, the medium bottle with smooth texture with the other.",
+    "Pick up both the smooth red cylindrical bottle and the bottle with dark brown color together.",
+    "Collect the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Lift both the red bottle and the smooth brown bottle simultaneously.",
+    "Pick up both the smooth red cylindrical bottle and the bottle with white cap.",
+    "Catch the red bottle with curved grooves with one arm, the bottle with dark brown color with another arm.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the rounded bottle with printed details.",
+    "Lift the red bottle with white bottom text, continue and pick up the bottle with brown body and white top.",
+    "Lift the handheld plastic bottle and the bottle with brown body and white top with separate arms.",
+    "Secure the smooth red cylindrical bottle, then secure the plastic bottle for liquids.",
+    "Hold the bottle with red cap in one arm, the handheld brown bottle with white lid in the other."
+  ],
+  "unseen": [
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode31.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a11ac1caadaf772983c1ae6202308a46ce050a
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle with narrow neck, grab the plastic bottle with printed label next.",
+    "Use one arm for the handheld plastic bottle, another for the cylindrical bottle with narrow neck.",
+    "Hold the red bottle with curved grooves in one arm, catch the bottle with dark brown color with the other arm.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Grab the red bottle with narrow neck, pick up the bottle with brown body and white top.",
+    "Grasp the handheld plastic bottle first, then take the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the red bottle, then the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with white bottom text, then grab the bottle with white cap.",
+    "Collect the red bottle with narrow neck, then pick up the smooth brown bottle.",
+    "Pick up both the red bottle and the bottle with white cap.",
+    "Pick both the handheld plastic bottle and the medium plastic bottle one after another.",
+    "Pick up the yellow text bottle and then pick up the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "Hold onto the red bottle with screw cap, then pick up the rounded bottle with printed details.",
+    "Use one arm for the plastic bottle and the other for the rounded bottle with printed details.",
+    "Catch the red bottle with white bottom text, then grab the bottle with dark brown color too.",
+    "Take hold of the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Each arm should pick up one: the red bottle with screw cap, then the bottle with dark brown color.",
+    "Grab the yellow text bottle and pick up the bottle with dark brown color.",
+    "Hold the red bottle with screw cap in one arm, the bottle with brown body and white top in the other.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the bottle with white cap with the other.",
+    "Grab the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with the other.",
+    "Let each arm grab either the smooth red cylindrical bottle or the bottle with white cap.",
+    "Catch the plastic bottle with bright red color, then take hold of the plastic bottle for liquids.",
+    "Lift the red bottle with screw cap, continue and pick up the smooth brown bottle.",
+    "Secure both the medium-size plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Hold onto the yellow text bottle and then get the rounded bottle with printed details.",
+    "Use one arm for the red bottle with narrow neck, the other for the white-capped brown cylindrical bottle.",
+    "Catch the yellow text bottle, then catch the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with another arm.",
+    "Secure the red bottle with curved grooves, then secure the bottle with dark brown color.",
+    "Hold both the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Assign one arm to each of the red bottle with white bottom text and the bottle with dark brown color.",
+    "Lift both the red bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the handheld brown bottle with white lid.",
+    "Pick up the smooth red cylindrical bottle, then pick up the handheld brown bottle with white lid.",
+    "Grab the bottle with red cap with one arm, the medium bottle with smooth texture with the other.",
+    "Grab the bottle with red cap using one arm and the bottle with dark brown color using the other.",
+    "Secure the bottle with red cap and the rounded bottle with printed details in succession.",
+    "Catch both the handheld plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the smooth brown bottle.",
+    "Use each arm to lift the red bottle and the white-capped brown cylindrical bottle.",
+    "Lift the plastic bottle and also take hold of the handheld brown bottle with white lid.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with white cap.",
+    "Use both arms to pick up the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Lift the plastic bottle with bright red color and the bottle with brown body and white top with separate arms.",
+    "Pick up both the smooth red cylindrical bottle and the plastic bottle for liquids together.",
+    "Catch the plastic bottle with bright red color, grab the plastic bottle for liquids next.",
+    "Use one arm for the plastic bottle, another for the cylindrical bottle with narrow neck.",
+    "Hold the plastic bottle with bright red color in one arm, catch the medium plastic bottle with the other arm.",
+    "Use both arms to lift the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle with printed label.",
+    "Grasp the red bottle with curved grooves first, then take the handheld brown bottle with white lid.",
+    "Use both arms to pick up the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "With both arms, pick up the bottle with red cap, then the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with white bottom text, then grab the handheld brown bottle with white lid.",
+    "Collect the medium-size plastic bottle, then pick up the rounded bottle with printed details.",
+    "Pick up both the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Pick both the red bottle with curved grooves and the medium bottle with smooth texture one after another.",
+    "Pick up the smooth red cylindrical bottle and then pick up the bottle with white cap.",
+    "Catch the smooth red cylindrical bottle in one arm and the bottle with brown body and white top in the other arm.",
+    "Hold onto the bottle with red cap, then pick up the plastic bottle for liquids.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle, then grab the handheld brown bottle with white lid too.",
+    "Take hold of the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Hold the red bottle with narrow neck with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with screw cap and pick up the rounded bottle with printed details.",
+    "Hold the red bottle with curved grooves in one arm, the plastic bottle with printed label in the other.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the smooth brown bottle with the other.",
+    "Grab the red bottle with white bottom text with one arm, the bottle with white cap with the other.",
+    "Let each arm grab either the smooth red cylindrical bottle or the smooth brown bottle.",
+    "Catch the bottle with red cap, then take hold of the rounded bottle with printed details.",
+    "Lift the yellow text bottle, continue and pick up the plastic bottle for liquids.",
+    "Secure both the red bottle with narrow neck and the medium bottle with smooth texture quickly.",
+    "Hold onto the medium-size plastic bottle and then get the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle, the other for the handheld brown bottle with white lid.",
+    "Catch the plastic bottle with bright red color, then catch the smooth brown bottle.",
+    "Catch the red bottle with screw cap with one arm, the bottle with dark brown color with another arm.",
+    "Secure the red bottle with narrow neck, then secure the handheld brown bottle with white lid.",
+    "Hold both the red bottle and the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle with bright red color using an arm and the plastic bottle with printed label with the other arm.",
+    "Assign one arm to each of the red bottle with curved grooves and the bottle with dark brown color.",
+    "Lift both the red bottle with screw cap and the white-capped brown cylindrical bottle simultaneously.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the bottle with dark brown color.",
+    "Pick up the red bottle with screw cap, then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck with one arm, the rounded bottle with printed details with the other.",
+    "Grab the red bottle with narrow neck using one arm and the rounded bottle with printed details using the other.",
+    "Secure the red bottle and the medium plastic bottle in succession.",
+    "Catch both the red bottle with white bottom text and the bottle with brown body and white top quickly.",
+    "Assign one arm to catch the yellow text bottle, one for the rounded bottle with printed details.",
+    "Use each arm to lift the red bottle and the bottle with white cap.",
+    "Lift the bottle with red cap and also take hold of the plastic bottle for liquids.",
+    "With two arms, catch both the yellow text bottle and the handheld brown bottle with white lid.",
+    "Use both arms to pick up the yellow text bottle and the plastic bottle with printed label.",
+    "Lift the smooth red cylindrical bottle and the medium plastic bottle with separate arms.",
+    "Pick up both the plastic bottle and the white-capped brown cylindrical bottle together."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode32.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..d061450908d60808b216b0e741b6c6078dd915ad
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with red cap using one arm and the smooth brown bottle using the other.",
+    "Lift both the bottle with red cap and the white-capped brown cylindrical bottle simultaneously.",
+    "Catch the yellow text bottle, then grab the smooth brown bottle too.",
+    "Hold both the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Hold the red bottle with one arm, hold the medium plastic bottle with the other.",
+    "With two arms, catch both the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Assign one arm to each of the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Secure the medium-size plastic bottle and the plastic bottle with printed label in succession.",
+    "Grab the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Catch both the red bottle with white bottom text and the medium plastic bottle quickly.",
+    "Secure both the handheld plastic bottle and the bottle with white cap quickly.",
+    "Pick both the medium-size plastic bottle and the plastic bottle with printed label one after another.",
+    "Let each arm grab either the plastic bottle with bright red color or the plastic bottle with printed label.",
+    "Pick up the red bottle with narrow neck, then pick up the rounded bottle with printed details.",
+    "Lift the red bottle with screw cap, continue and pick up the plastic bottle for liquids.",
+    "Grab the red bottle with screw cap using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Collect the plastic bottle with bright red color, then pick up the rounded bottle with printed details.",
+    "Catch the bottle with red cap, grab the handheld brown bottle with white lid next.",
+    "Lift the red bottle with white bottom text and the medium bottle with smooth texture with separate arms.",
+    "Take hold of the red bottle with white bottom text and the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with dark brown color.",
+    "Catch the smooth red cylindrical bottle, then catch the bottle with brown body and white top.",
+    "Catch the bottle with red cap, then take hold of the bottle with dark brown color.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with dark brown color with the other.",
+    "Grab the handheld plastic bottle, pick up the handheld brown bottle with white lid.",
+    "Grab the red bottle and pick up the bottle with brown body and white top.",
+    "Grab and hold the plastic bottle, then grab the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with white cap.",
+    "Secure the red bottle with screw cap, then secure the plastic bottle for liquids.",
+    "Use each arm to lift the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Catch the red bottle in one arm and the medium plastic bottle in the other arm.",
+    "Use both arms to lift the red bottle with curved grooves and the bottle with white cap.",
+    "Pick up both the red bottle with narrow neck and the cylindrical bottle with narrow neck together.",
+    "Hold the red bottle with narrow neck in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Grasp the red bottle with narrow neck first, then take the bottle with white cap.",
+    "Lift the medium-size plastic bottle and also take hold of the handheld brown bottle with white lid.",
+    "One arm grabs the red bottle; the other arm grabs the medium plastic bottle.",
+    "Catch the red bottle with curved grooves with one arm, the bottle with brown body and white top with another arm.",
+    "Pick up both the handheld plastic bottle and the bottle with dark brown color.",
+    "Hold the smooth red cylindrical bottle in one arm, the smooth brown bottle in the other.",
+    "Use one arm for the red bottle with curved grooves, the other for the medium plastic bottle.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the smooth brown bottle.",
+    "Use one arm for the bottle with red cap, another for the medium plastic bottle.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the plastic bottle for liquids.",
+    "Hold onto the red bottle and then get the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the bottle with white cap.",
+    "Use one arm for the red bottle with screw cap and the other for the handheld brown bottle with white lid.",
+    "Assign one arm to catch the red bottle with screw cap, one for the medium bottle with smooth texture.",
+    "Pick up the plastic bottle with bright red color and then pick up the handheld brown bottle with white lid.",
+    "Lift both bottles, the bottle with red cap with one arm, the medium plastic bottle with the other.",
+    "Grab the red bottle with narrow neck using one arm and the handheld brown bottle with white lid using the other.",
+    "Lift both the red bottle with narrow neck and the plastic bottle for liquids simultaneously.",
+    "Catch the medium-size plastic bottle, then grab the bottle with brown body and white top too.",
+    "Hold both the red bottle with narrow neck and the smooth brown bottle.",
+    "Hold the red bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "With two arms, catch both the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the yellow text bottle and the bottle with dark brown color.",
+    "Secure the red bottle with screw cap and the rounded bottle with printed details in succession.",
+    "Grab the medium-size plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Catch both the red bottle with white bottom text and the plastic bottle with printed label quickly.",
+    "Secure both the bottle with red cap and the rounded bottle with printed details quickly.",
+    "Pick both the red bottle and the plastic bottle for liquids one after another.",
+    "Let each arm grab either the red bottle with narrow neck or the white-capped brown cylindrical bottle.",
+    "Pick up the yellow text bottle, then pick up the bottle with brown body and white top.",
+    "Lift the red bottle with narrow neck, continue and pick up the bottle with white cap.",
+    "Grab the handheld plastic bottle using an arm and the medium bottle with smooth texture with the other arm.",
+    "Collect the plastic bottle, then pick up the smooth brown bottle.",
+    "Catch the red bottle with narrow neck, grab the handheld brown bottle with white lid next.",
+    "Lift the handheld plastic bottle and the bottle with white cap with separate arms.",
+    "Take hold of the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Use both arms to pick up the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Catch the plastic bottle, then catch the smooth brown bottle.",
+    "Catch the handheld plastic bottle, then take hold of the plastic bottle for liquids.",
+    "Grab the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Grab the yellow text bottle, pick up the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves and pick up the plastic bottle for liquids.",
+    "Grab and hold the red bottle with curved grooves, then grab the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Secure the red bottle with screw cap, then secure the bottle with white cap.",
+    "Use each arm to lift the red bottle and the rounded bottle with printed details.",
+    "Catch the red bottle with narrow neck in one arm and the bottle with brown body and white top in the other arm.",
+    "Use both arms to lift the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Pick up both the handheld plastic bottle and the plastic bottle with printed label together.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Grasp the bottle with red cap first, then take the medium bottle with smooth texture.",
+    "Lift the handheld plastic bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the plastic bottle with printed label.",
+    "Catch the handheld plastic bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Pick up both the yellow text bottle and the plastic bottle with printed label.",
+    "Hold the red bottle with screw cap in one arm, the bottle with dark brown color in the other.",
+    "Use one arm for the red bottle with screw cap, the other for the bottle with dark brown color.",
+    "Hold onto the plastic bottle, then pick up the rounded bottle with printed details.",
+    "Use one arm for the smooth red cylindrical bottle, another for the bottle with brown body and white top.",
+    "With both arms, pick up the red bottle with narrow neck, then the plastic bottle with printed label.",
+    "Hold onto the plastic bottle and then get the bottle with dark brown color.",
+    "Each arm should pick up one: the handheld plastic bottle, then the medium plastic bottle.",
+    "Use one arm for the medium-size plastic bottle and the other for the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the bottle with red cap, one for the plastic bottle with printed label.",
+    "Pick up the plastic bottle and then pick up the bottle with dark brown color.",
+    "Lift both bottles, the red bottle with one arm, the medium bottle with smooth texture with the other."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode33.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d5f57466f4d6fd899766f3a8e0c8bee309beb12
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with screw cap and the other for the bottle with white cap.",
+    "Hold both the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Catch the red bottle with screw cap, then grab the rounded bottle with printed details too.",
+    "Grab the yellow text bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Grab the medium-size plastic bottle, pick up the medium plastic bottle.",
+    "Use each arm to lift the red bottle and the bottle with brown body and white top.",
+    "Pick both the red bottle with screw cap and the cylindrical bottle with narrow neck one after another.",
+    "Lift the plastic bottle and the bottle with white cap with separate arms.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium plastic bottle.",
+    "Each arm should pick up one: the plastic bottle, then the rounded bottle with printed details.",
+    "With two arms, catch both the red bottle with curved grooves and the bottle with white cap.",
+    "Pick up both the red bottle with screw cap and the medium plastic bottle.",
+    "Lift both bottles, the bottle with red cap with one arm, the medium plastic bottle with the other.",
+    "Assign one arm to catch the bottle with red cap, one for the bottle with white cap.",
+    "Hold the plastic bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Lift the red bottle with narrow neck and also take hold of the white-capped brown cylindrical bottle.",
+    "Pick up the red bottle with screw cap and then pick up the bottle with dark brown color.",
+    "Grab the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Secure the plastic bottle and the medium plastic bottle in succession.",
+    "Catch the plastic bottle with bright red color, grab the bottle with dark brown color next.",
+    "Grasp the red bottle first, then take the plastic bottle for liquids.",
+    "Use one arm for the red bottle with narrow neck, another for the plastic bottle for liquids.",
+    "Catch the red bottle with narrow neck, then take hold of the medium plastic bottle.",
+    "Grab and hold the plastic bottle, then grab the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the red bottle with screw cap or the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the red bottle with screw cap and the bottle with white cap.",
+    "Pick up the red bottle with white bottom text, then pick up the handheld brown bottle with white lid.",
+    "Catch both the red bottle with white bottom text and the bottle with white cap quickly.",
+    "Assign one arm to each of the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Lift both the red bottle and the bottle with dark brown color simultaneously.",
+    "Take hold of the yellow text bottle and the bottle with dark brown color.",
+    "Grab the yellow text bottle and pick up the white-capped brown cylindrical bottle.",
+    "Collect the red bottle with narrow neck, then pick up the bottle with brown body and white top.",
+    "Secure both the red bottle with narrow neck and the plastic bottle with printed label quickly.",
+    "One arm grabs the yellow text bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Catch the smooth red cylindrical bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Hold the bottle with red cap with one arm, hold the plastic bottle with printed label with the other.",
+    "Hold onto the bottle with red cap and then get the plastic bottle for liquids.",
+    "Grab the medium-size plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Use one arm for the red bottle with curved grooves, the other for the medium plastic bottle.",
+    "Grab the smooth red cylindrical bottle using an arm and the medium bottle with smooth texture with the other arm.",
+    "Pick up both the red bottle with curved grooves and the white-capped brown cylindrical bottle together.",
+    "Secure the bottle with red cap, then secure the plastic bottle for liquids.",
+    "Catch the red bottle with curved grooves, then catch the bottle with white cap.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the bottle with white cap.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with dark brown color in the other arm.",
+    "Hold onto the bottle with red cap, then pick up the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Hold the red bottle in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Use one arm for the plastic bottle with bright red color and the other for the plastic bottle for liquids.",
+    "Hold both the red bottle and the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck too.",
+    "Grab the red bottle with one arm, the smooth brown bottle with the other.",
+    "Grab the red bottle with white bottom text, pick up the medium bottle with smooth texture.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Pick both the medium-size plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Lift the red bottle with curved grooves and the bottle with white cap with separate arms.",
+    "Lift the handheld plastic bottle, continue and pick up the plastic bottle with printed label.",
+    "Each arm should pick up one: the plastic bottle, then the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the handheld plastic bottle and the rounded bottle with printed details.",
+    "Pick up both the red bottle with screw cap and the bottle with white cap.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Assign one arm to catch the handheld plastic bottle, one for the smooth brown bottle.",
+    "Hold the plastic bottle in one arm, the medium plastic bottle in the other.",
+    "Lift the plastic bottle and also take hold of the medium bottle with smooth texture.",
+    "Pick up the red bottle with narrow neck and then pick up the medium bottle with smooth texture.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle for liquids with the other.",
+    "Secure the bottle with red cap and the bottle with white cap in succession.",
+    "Catch the red bottle, grab the bottle with white cap next.",
+    "Grasp the plastic bottle first, then take the bottle with brown body and white top.",
+    "Use one arm for the red bottle with narrow neck, another for the bottle with white cap.",
+    "Catch the red bottle with curved grooves, then take hold of the smooth brown bottle.",
+    "Grab and hold the bottle with red cap, then grab the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the yellow text bottle or the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the handheld plastic bottle and the rounded bottle with printed details.",
+    "Pick up the red bottle with curved grooves, then pick up the cylindrical bottle with narrow neck.",
+    "Catch both the red bottle with screw cap and the handheld brown bottle with white lid quickly.",
+    "Assign one arm to each of the red bottle and the plastic bottle for liquids.",
+    "Lift both the red bottle with narrow neck and the handheld brown bottle with white lid simultaneously.",
+    "Take hold of the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle and pick up the bottle with brown body and white top.",
+    "Collect the red bottle with screw cap, then pick up the bottle with white cap.",
+    "Secure both the red bottle with narrow neck and the bottle with brown body and white top quickly.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with white bottom text with one arm, the bottle with white cap with another arm.",
+    "Hold the red bottle with one arm, hold the rounded bottle with printed details with the other.",
+    "Hold onto the red bottle with white bottom text and then get the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle using one arm and the medium plastic bottle using the other.",
+    "Use both arms to lift the yellow text bottle and the rounded bottle with printed details.",
+    "Use one arm for the red bottle with white bottom text, the other for the plastic bottle for liquids.",
+    "Grab the yellow text bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Pick up both the plastic bottle and the medium bottle with smooth texture together.",
+    "Secure the plastic bottle, then secure the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle, then catch the medium bottle with smooth texture.",
+    "With both arms, pick up the plastic bottle, then the medium plastic bottle.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with brown body and white top in the other arm.",
+    "Hold onto the red bottle with curved grooves, then pick up the smooth brown bottle.",
+    "Use both arms to pick up the red bottle with narrow neck and the smooth brown bottle.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the plastic bottle for liquids with the other arm."
+  ],
+  "unseen": [
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode34.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..498d06fec6d6c1378d861720a6f9866bdce0b9ea
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with white bottom text, another for the rounded bottle with printed details.",
+    "Catch the medium-size plastic bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Grab the red bottle with screw cap using an arm and the plastic bottle with printed label with the other arm.",
+    "Lift the red bottle with narrow neck and the plastic bottle for liquids with separate arms.",
+    "Pick both the red bottle with curved grooves and the bottle with white cap one after another.",
+    "Hold onto the bottle with red cap and then get the smooth brown bottle.",
+    "Hold onto the plastic bottle with bright red color, then pick up the plastic bottle for liquids.",
+    "Hold the red bottle with white bottom text in one arm, the medium bottle with smooth texture in the other.",
+    "Take hold of the red bottle with curved grooves and the bottle with dark brown color.",
+    "Secure the red bottle, then secure the bottle with brown body and white top.",
+    "Assign one arm to catch the plastic bottle, one for the medium plastic bottle.",
+    "Use each arm to lift the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Secure both the red bottle with white bottom text and the handheld brown bottle with white lid quickly.",
+    "Pick up the red bottle with curved grooves, then pick up the cylindrical bottle with narrow neck.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with dark brown color.",
+    "Lift the smooth red cylindrical bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with white bottom text, pick up the white-capped brown cylindrical bottle.",
+    "Lift both the plastic bottle and the smooth brown bottle simultaneously.",
+    "Hold the medium-size plastic bottle with one arm, hold the rounded bottle with printed details with the other.",
+    "Hold the yellow text bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Grab and hold the red bottle with white bottom text, then grab the cylindrical bottle with narrow neck.",
+    "Use one arm for the plastic bottle with bright red color and the other for the plastic bottle for liquids.",
+    "Secure the plastic bottle and the bottle with brown body and white top in succession.",
+    "Grasp the bottle with red cap first, then take the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle with bright red color, the other for the bottle with white cap.",
+    "Use both arms to pick up the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves in one arm and the medium bottle with smooth texture in the other arm.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with dark brown color.",
+    "Grab the red bottle with narrow neck and pick up the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with curved grooves with one arm, the plastic bottle for liquids with another arm.",
+    "Catch the red bottle, grab the plastic bottle with printed label next.",
+    "Pick up both the medium-size plastic bottle and the bottle with dark brown color.",
+    "With two arms, catch both the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the medium plastic bottle.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the bottle with white cap with the other.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the bottle with brown body and white top.",
+    "Catch both the smooth red cylindrical bottle and the rounded bottle with printed details quickly.",
+    "Hold both the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the handheld brown bottle with white lid.",
+    "With both arms, pick up the plastic bottle with bright red color, then the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with narrow neck with one arm, the plastic bottle for liquids with the other.",
+    "Catch the red bottle with white bottom text, then take hold of the rounded bottle with printed details.",
+    "Pick up both the red bottle with curved grooves and the medium plastic bottle together.",
+    "Grab the red bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Pick up the smooth red cylindrical bottle and then pick up the bottle with dark brown color.",
+    "Grab the red bottle with screw cap using one arm and the medium bottle with smooth texture using the other.",
+    "Use both arms to pick up the plastic bottle with bright red color and the medium plastic bottle.",
+    "Catch the medium-size plastic bottle, then catch the plastic bottle for liquids.",
+    "Assign one arm to each of the plastic bottle and the rounded bottle with printed details.",
+    "Use one arm for the red bottle with white bottom text, another for the plastic bottle for liquids.",
+    "Catch the red bottle, then grab the plastic bottle for liquids too.",
+    "Grab the plastic bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "Lift the red bottle with curved grooves and the white-capped brown cylindrical bottle with separate arms.",
+    "Pick both the red bottle with curved grooves and the medium plastic bottle one after another.",
+    "Hold onto the red bottle and then get the bottle with white cap.",
+    "Hold onto the handheld plastic bottle, then pick up the bottle with brown body and white top.",
+    "Hold the bottle with red cap in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Take hold of the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "Secure the bottle with red cap, then secure the smooth brown bottle.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the medium plastic bottle.",
+    "Use each arm to lift the red bottle and the smooth brown bottle.",
+    "Secure both the red bottle with curved grooves and the plastic bottle with printed label quickly.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Collect the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Lift the handheld plastic bottle and also take hold of the bottle with dark brown color.",
+    "Grab the smooth red cylindrical bottle, pick up the bottle with white cap.",
+    "Lift both the plastic bottle and the rounded bottle with printed details simultaneously.",
+    "Hold the plastic bottle with bright red color with one arm, hold the medium bottle with smooth texture with the other.",
+    "Hold the handheld plastic bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Grab and hold the red bottle, then grab the plastic bottle with printed label.",
+    "Use one arm for the red bottle and the other for the bottle with brown body and white top.",
+    "Secure the medium-size plastic bottle and the smooth brown bottle in succession.",
+    "Grasp the red bottle with screw cap first, then take the medium bottle with smooth texture.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with white cap.",
+    "Use one arm for the red bottle with screw cap, the other for the medium bottle with smooth texture.",
+    "Use both arms to pick up the red bottle and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves in one arm and the plastic bottle for liquids in the other arm.",
+    "Let each arm grab either the red bottle with curved grooves or the medium plastic bottle.",
+    "Grab the plastic bottle and pick up the bottle with brown body and white top.",
+    "Catch the red bottle with one arm, the bottle with dark brown color with another arm.",
+    "Catch the plastic bottle with bright red color, grab the bottle with white cap next.",
+    "Pick up both the red bottle with curved grooves and the bottle with white cap.",
+    "With two arms, catch both the red bottle with white bottom text and the plastic bottle with printed label.",
+    "Lift the medium-size plastic bottle, continue and pick up the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the rounded bottle with printed details with the other.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the plastic bottle with printed label.",
+    "Catch both the plastic bottle and the medium plastic bottle quickly.",
+    "Hold both the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Each arm should pick up one: the handheld plastic bottle, then the medium plastic bottle.",
+    "With both arms, pick up the handheld plastic bottle, then the bottle with brown body and white top.",
+    "Grab the bottle with red cap with one arm, the plastic bottle for liquids with the other.",
+    "Catch the red bottle, then take hold of the plastic bottle for liquids.",
+    "Pick up both the medium-size plastic bottle and the white-capped brown cylindrical bottle together.",
+    "Grab the red bottle with white bottom text with one arm, the medium bottle with smooth texture with the other.",
+    "Pick up the handheld plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Grab the bottle with red cap using one arm and the medium bottle with smooth texture using the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "Catch the red bottle, then catch the handheld brown bottle with white lid.",
+    "Assign one arm to each of the red bottle with curved grooves and the handheld brown bottle with white lid."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode35.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a22a4b55177a777986d209d083cd5fc7473eb8
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the yellow text bottle, the other for the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with curved grooves and the medium plastic bottle.",
+    "Catch the red bottle with curved grooves, then grab the medium plastic bottle too.",
+    "Catch the red bottle with curved grooves, then take hold of the handheld brown bottle with white lid.",
+    "Grab the red bottle with narrow neck using one arm and the bottle with white cap using the other.",
+    "Hold onto the medium-size plastic bottle, then pick up the bottle with white cap.",
+    "Assign one arm to each of the red bottle with curved grooves and the plastic bottle for liquids.",
+    "Pick up both the medium-size plastic bottle and the bottle with brown body and white top together.",
+    "Grab the red bottle with curved grooves using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Use one arm for the red bottle with narrow neck and the other for the medium bottle with smooth texture.",
+    "Hold the yellow text bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Lift the bottle with red cap and also take hold of the bottle with white cap.",
+    "Pick up the red bottle with screw cap, then pick up the plastic bottle with printed label.",
+    "Catch the medium-size plastic bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Grasp the bottle with red cap first, then take the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text and pick up the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the plastic bottle with printed label with the other.",
+    "Secure both the bottle with red cap and the bottle with dark brown color quickly.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the rounded bottle with printed details.",
+    "Hold the smooth red cylindrical bottle in one arm, the medium plastic bottle in the other.",
+    "Use both arms to pick up the handheld plastic bottle and the rounded bottle with printed details.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Secure the red bottle with screw cap and the bottle with brown body and white top in succession.",
+    "Catch the medium-size plastic bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Lift both the medium-size plastic bottle and the smooth brown bottle simultaneously.",
+    "Catch the red bottle with narrow neck, then catch the medium bottle with smooth texture.",
+    "Grab the yellow text bottle with one arm, the bottle with brown body and white top with the other.",
+    "Grab and hold the red bottle with screw cap, then grab the medium bottle with smooth texture.",
+    "Let each arm grab either the handheld plastic bottle or the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle with white bottom text and the medium plastic bottle.",
+    "Hold onto the bottle with red cap and then get the plastic bottle with printed label.",
+    "One arm grabs the red bottle; the other arm grabs the medium plastic bottle.",
+    "Lift the handheld plastic bottle and the bottle with brown body and white top with separate arms.",
+    "With two arms, catch both the red bottle and the bottle with dark brown color.",
+    "Secure the red bottle with white bottom text, then secure the bottle with white cap.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the rounded bottle with printed details.",
+    "Catch the red bottle with narrow neck, grab the smooth brown bottle next.",
+    "Grab the handheld plastic bottle, pick up the plastic bottle with printed label.",
+    "Use each arm to lift the bottle with red cap and the plastic bottle with printed label.",
+    "Use one arm for the red bottle with white bottom text, another for the smooth brown bottle.",
+    "Take hold of the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Pick both the plastic bottle with bright red color and the plastic bottle with printed label one after another.",
+    "Grab the red bottle with screw cap with one arm, the bottle with dark brown color with the other.",
+    "Collect the red bottle, then pick up the smooth brown bottle.",
+    "With both arms, pick up the yellow text bottle, then the plastic bottle with printed label.",
+    "Hold both the yellow text bottle and the medium plastic bottle.",
+    "Pick up the red bottle with screw cap and then pick up the cylindrical bottle with narrow neck.",
+    "Lift the yellow text bottle, continue and pick up the medium bottle with smooth texture.",
+    "Catch both the medium-size plastic bottle and the bottle with brown body and white top quickly.",
+    "Hold the plastic bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Use one arm for the plastic bottle with bright red color, the other for the handheld brown bottle with white lid.",
+    "Pick up both the yellow text bottle and the bottle with white cap.",
+    "Catch the red bottle with white bottom text, then grab the white-capped brown cylindrical bottle too.",
+    "Catch the plastic bottle, then take hold of the handheld brown bottle with white lid.",
+    "Grab the plastic bottle with bright red color using one arm and the medium plastic bottle using the other.",
+    "Hold onto the red bottle, then pick up the smooth brown bottle.",
+    "Assign one arm to each of the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Pick up both the red bottle and the bottle with dark brown color together.",
+    "Grab the yellow text bottle using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Use one arm for the yellow text bottle and the other for the bottle with dark brown color.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Lift the medium-size plastic bottle and also take hold of the plastic bottle with printed label.",
+    "Pick up the plastic bottle with bright red color, then pick up the bottle with white cap.",
+    "Catch the red bottle with white bottom text with one arm, the medium bottle with smooth texture with another arm.",
+    "Grasp the plastic bottle with bright red color first, then take the bottle with dark brown color.",
+    "Grab the red bottle and pick up the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Secure both the plastic bottle with bright red color and the medium bottle with smooth texture quickly.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the bottle with brown body and white top.",
+    "Hold the plastic bottle in one arm, the medium plastic bottle in the other.",
+    "Use both arms to pick up the red bottle with screw cap and the rounded bottle with printed details.",
+    "Use both arms to lift the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Secure the plastic bottle and the medium bottle with smooth texture in succession.",
+    "Catch the bottle with red cap in one arm and the bottle with white cap in the other arm.",
+    "Lift both the red bottle with narrow neck and the plastic bottle with printed label simultaneously.",
+    "Catch the plastic bottle with bright red color, then catch the bottle with white cap.",
+    "Grab the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with the other.",
+    "Grab and hold the red bottle with white bottom text, then grab the bottle with dark brown color.",
+    "Let each arm grab either the plastic bottle or the bottle with white cap.",
+    "Use both arms to pick up the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Hold onto the red bottle with screw cap and then get the smooth brown bottle.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Lift the plastic bottle and the bottle with dark brown color with separate arms.",
+    "With two arms, catch both the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Secure the handheld plastic bottle, then secure the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the plastic bottle, one for the smooth brown bottle.",
+    "Catch the medium-size plastic bottle, grab the handheld brown bottle with white lid next.",
+    "Grab the plastic bottle, pick up the plastic bottle for liquids.",
+    "Use each arm to lift the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Use one arm for the plastic bottle, another for the handheld brown bottle with white lid.",
+    "Take hold of the handheld plastic bottle and the smooth brown bottle.",
+    "Pick both the red bottle with curved grooves and the bottle with brown body and white top one after another.",
+    "Grab the bottle with red cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Collect the plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the red bottle with curved grooves, then the white-capped brown cylindrical bottle.",
+    "Hold both the plastic bottle and the medium bottle with smooth texture.",
+    "Pick up the red bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium bottle with smooth texture.",
+    "Catch both the bottle with red cap and the plastic bottle with printed label quickly.",
+    "Hold the red bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode36.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ea53ad2d955008915239e4bc0a93080e8ae7b1
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with screw cap, continue and pick up the bottle with dark brown color.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Grab and hold the red bottle, then grab the cylindrical bottle with narrow neck.",
+    "Catch both the plastic bottle and the bottle with white cap quickly.",
+    "With both arms, pick up the plastic bottle with bright red color, then the plastic bottle with printed label.",
+    "Grasp the plastic bottle first, then take the bottle with dark brown color.",
+    "Grab the red bottle with narrow neck using an arm and the medium bottle with smooth texture with the other arm.",
+    "Use one arm for the red bottle with curved grooves, another for the smooth brown bottle.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Lift the handheld plastic bottle and the plastic bottle for liquids with separate arms.",
+    "One arm grabs the bottle with red cap; the other arm grabs the white-capped brown cylindrical bottle.",
+    "With two arms, catch both the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "Secure the medium-size plastic bottle and the white-capped brown cylindrical bottle in succession.",
+    "Grab the red bottle with one arm, the smooth brown bottle with the other.",
+    "Use both arms to pick up the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "Hold the bottle with red cap with one arm, hold the plastic bottle for liquids with the other.",
+    "Catch the plastic bottle with bright red color, then take hold of the medium plastic bottle.",
+    "Secure the smooth red cylindrical bottle, then secure the plastic bottle for liquids.",
+    "Hold the medium-size plastic bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Use one arm for the red bottle with curved grooves and the other for the white-capped brown cylindrical bottle.",
+    "Pick both the handheld plastic bottle and the bottle with brown body and white top one after another.",
+    "Hold onto the plastic bottle with bright red color, then pick up the bottle with white cap.",
+    "Pick up the handheld plastic bottle and then pick up the handheld brown bottle with white lid.",
+    "Grab the smooth red cylindrical bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "Lift the smooth red cylindrical bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with screw cap in one arm, catch the smooth brown bottle with the other arm.",
+    "Grab the red bottle with white bottom text with one arm, the bottle with white cap with the other.",
+    "Collect the smooth red cylindrical bottle, then pick up the handheld brown bottle with white lid.",
+    "Grab the smooth red cylindrical bottle and pick up the medium bottle with smooth texture.",
+    "Pick up both the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Catch the medium-size plastic bottle, then catch the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with dark brown color in the other arm.",
+    "Pick up the smooth red cylindrical bottle, then pick up the bottle with white cap.",
+    "Take hold of the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Catch the red bottle with white bottom text with one arm, the smooth brown bottle with another arm.",
+    "Hold both the red bottle and the smooth brown bottle.",
+    "Hold onto the red bottle with narrow neck and then get the handheld brown bottle with white lid.",
+    "Catch the plastic bottle, then grab the smooth brown bottle too.",
+    "Let each arm grab either the red bottle or the handheld brown bottle with white lid.",
+    "Catch the red bottle with curved grooves, grab the bottle with dark brown color next.",
+    "Use each arm to lift the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Use both arms to lift the plastic bottle and the bottle with brown body and white top.",
+    "Lift both the red bottle and the bottle with dark brown color simultaneously.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the white-capped brown cylindrical bottle.",
+    "Use one arm for the yellow text bottle, the other for the plastic bottle with printed label.",
+    "Secure both the red bottle with white bottom text and the bottle with brown body and white top quickly.",
+    "Grab the red bottle with curved grooves, pick up the medium bottle with smooth texture.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the cylindrical bottle with narrow neck.",
+    "Pick up both the bottle with red cap and the white-capped brown cylindrical bottle together.",
+    "Assign one arm to each of the red bottle and the handheld brown bottle with white lid.",
+    "Lift the red bottle with narrow neck, continue and pick up the plastic bottle with printed label.",
+    "Use both arms to pick up the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Grab and hold the plastic bottle, then grab the plastic bottle with printed label.",
+    "Catch both the plastic bottle with bright red color and the smooth brown bottle quickly.",
+    "With both arms, pick up the plastic bottle, then the bottle with brown body and white top.",
+    "Grasp the red bottle with curved grooves first, then take the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Use one arm for the smooth red cylindrical bottle, another for the smooth brown bottle.",
+    "Lift both bottles, the plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Lift the red bottle with curved grooves and the cylindrical bottle with narrow neck with separate arms.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the red bottle and the cylindrical bottle with narrow neck.",
+    "Secure the handheld plastic bottle and the medium plastic bottle in succession.",
+    "Grab the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Use both arms to pick up the medium-size plastic bottle and the smooth brown bottle.",
+    "Hold the red bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Catch the red bottle with narrow neck, then take hold of the bottle with dark brown color.",
+    "Secure the red bottle with white bottom text, then secure the bottle with dark brown color.",
+    "Hold the yellow text bottle in one arm, the bottle with brown body and white top in the other.",
+    "Use one arm for the plastic bottle with bright red color and the other for the bottle with white cap.",
+    "Pick both the yellow text bottle and the bottle with brown body and white top one after another.",
+    "Hold onto the red bottle with narrow neck, then pick up the white-capped brown cylindrical bottle.",
+    "Pick up the bottle with red cap and then pick up the bottle with white cap.",
+    "Grab the plastic bottle using one arm and the medium plastic bottle using the other.",
+    "Lift the red bottle with narrow neck and also take hold of the handheld brown bottle with white lid.",
+    "Hold the red bottle with white bottom text in one arm, catch the bottle with dark brown color with the other arm.",
+    "Grab the red bottle with narrow neck with one arm, the medium bottle with smooth texture with the other.",
+    "Collect the red bottle with white bottom text, then pick up the medium plastic bottle.",
+    "Grab the red bottle with narrow neck and pick up the bottle with white cap.",
+    "Pick up both the red bottle and the handheld brown bottle with white lid.",
+    "Catch the red bottle with screw cap, then catch the medium plastic bottle.",
+    "Catch the bottle with red cap in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Pick up the smooth red cylindrical bottle, then pick up the smooth brown bottle.",
+    "Take hold of the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Catch the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with another arm.",
+    "Hold both the bottle with red cap and the handheld brown bottle with white lid.",
+    "Hold onto the red bottle with white bottom text and then get the plastic bottle with printed label.",
+    "Catch the plastic bottle with bright red color, then grab the rounded bottle with printed details too.",
+    "Let each arm grab either the yellow text bottle or the cylindrical bottle with narrow neck.",
+    "Catch the handheld plastic bottle, grab the handheld brown bottle with white lid next.",
+    "Use each arm to lift the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Use both arms to lift the red bottle with curved grooves and the medium plastic bottle.",
+    "Lift both the red bottle and the rounded bottle with printed details simultaneously.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the plastic bottle with printed label.",
+    "Use one arm for the red bottle with curved grooves, the other for the bottle with white cap.",
+    "Secure both the smooth red cylindrical bottle and the medium plastic bottle quickly.",
+    "Grab the bottle with red cap, pick up the medium plastic bottle.",
+    "Assign one arm to catch the handheld plastic bottle, one for the bottle with dark brown color.",
+    "Pick up both the handheld plastic bottle and the bottle with white cap together.",
+    "Assign one arm to each of the medium-size plastic bottle and the bottle with white cap."
+  ],
+  "unseen": [
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode37.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..e58ea81f37cfdce53c844961f105c281accb1e77
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle with screw cap, then grab the bottle with brown body and white top too.",
+    "With both arms, pick up the red bottle with screw cap, then the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle and the smooth brown bottle together.",
+    "Pick up the red bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the bottle with red cap and the rounded bottle with printed details.",
+    "Pick up the red bottle and then pick up the rounded bottle with printed details.",
+    "Lift both the medium-size plastic bottle and the medium bottle with smooth texture simultaneously.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the rounded bottle with printed details.",
+    "Hold the red bottle with narrow neck in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Lift the red bottle with narrow neck and the bottle with dark brown color with separate arms.",
+    "Hold onto the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Take hold of the yellow text bottle and the bottle with white cap.",
+    "Catch the red bottle, then catch the plastic bottle with printed label.",
+    "Grab the red bottle with white bottom text using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the smooth brown bottle.",
+    "Secure the bottle with red cap and the medium bottle with smooth texture in succession.",
+    "Grab the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Let each arm grab either the red bottle with screw cap or the rounded bottle with printed details.",
+    "Hold the red bottle with curved grooves with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Lift the medium-size plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Use one arm for the red bottle with screw cap and the other for the smooth brown bottle.",
+    "Use one arm for the plastic bottle, another for the handheld brown bottle with white lid.",
+    "Secure both the yellow text bottle and the medium plastic bottle quickly.",
+    "Pick both the red bottle with narrow neck and the bottle with white cap one after another.",
+    "Use both arms to pick up the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "Grab the medium-size plastic bottle, pick up the bottle with brown body and white top.",
+    "Use one arm for the plastic bottle, the other for the handheld brown bottle with white lid.",
+    "Grab and hold the plastic bottle with bright red color, then grab the smooth brown bottle.",
+    "Hold the plastic bottle with bright red color in one arm, the bottle with dark brown color in the other.",
+    "Pick up both the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Grab the red bottle and pick up the rounded bottle with printed details.",
+    "With two arms, catch both the yellow text bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the plastic bottle and the smooth brown bottle.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the rounded bottle with printed details.",
+    "Grab the yellow text bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Use each arm to lift the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Catch the bottle with red cap with one arm, the plastic bottle with printed label with another arm.",
+    "Catch the medium-size plastic bottle, grab the bottle with brown body and white top next.",
+    "Hold onto the red bottle with white bottom text and then get the bottle with brown body and white top.",
+    "Catch both the yellow text bottle and the plastic bottle with printed label quickly.",
+    "Collect the medium-size plastic bottle, then pick up the medium plastic bottle.",
+    "Grasp the red bottle with screw cap first, then take the cylindrical bottle with narrow neck.",
+    "Secure the red bottle with narrow neck, then secure the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Catch the smooth red cylindrical bottle in one arm and the bottle with white cap in the other arm.",
+    "Hold both the bottle with red cap and the medium plastic bottle.",
+    "Catch the red bottle, then take hold of the smooth brown bottle.",
+    "Lift the medium-size plastic bottle and also take hold of the rounded bottle with printed details.",
+    "Catch the smooth red cylindrical bottle, then grab the smooth brown bottle too.",
+    "With both arms, pick up the red bottle with white bottom text, then the bottle with dark brown color.",
+    "Pick up both the medium-size plastic bottle and the bottle with white cap together.",
+    "Pick up the red bottle, then pick up the rounded bottle with printed details.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Pick up the handheld plastic bottle and then pick up the medium plastic bottle.",
+    "Lift both the plastic bottle with bright red color and the white-capped brown cylindrical bottle simultaneously.",
+    "One arm grabs the plastic bottle; the other arm grabs the smooth brown bottle.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Lift the smooth red cylindrical bottle and the white-capped brown cylindrical bottle with separate arms.",
+    "Hold onto the plastic bottle, then pick up the bottle with dark brown color.",
+    "Take hold of the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Catch the handheld plastic bottle, then catch the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Assign one arm to catch the yellow text bottle, one for the plastic bottle for liquids.",
+    "Secure the smooth red cylindrical bottle and the plastic bottle with printed label in succession.",
+    "Grab the plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Let each arm grab either the red bottle or the medium plastic bottle.",
+    "Hold the red bottle with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Lift the yellow text bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Use one arm for the bottle with red cap and the other for the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with narrow neck, another for the plastic bottle for liquids.",
+    "Secure both the yellow text bottle and the bottle with brown body and white top quickly.",
+    "Pick both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck one after another.",
+    "Use both arms to pick up the plastic bottle and the medium bottle with smooth texture.",
+    "Use both arms to lift the plastic bottle and the bottle with white cap.",
+    "Grab the handheld plastic bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "Grab the medium-size plastic bottle, pick up the smooth brown bottle.",
+    "Use one arm for the red bottle with curved grooves, the other for the cylindrical bottle with narrow neck.",
+    "Grab and hold the handheld plastic bottle, then grab the plastic bottle for liquids.",
+    "Hold the yellow text bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Pick up both the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with curved grooves and pick up the bottle with white cap.",
+    "With two arms, catch both the handheld plastic bottle and the medium bottle with smooth texture.",
+    "Use both arms to pick up the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the red bottle, then the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the plastic bottle with printed label with the other.",
+    "Use each arm to lift the red bottle with screw cap and the plastic bottle with printed label.",
+    "Catch the plastic bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Catch the red bottle with curved grooves, grab the plastic bottle for liquids next.",
+    "Hold onto the red bottle with curved grooves and then get the smooth brown bottle.",
+    "Catch both the medium-size plastic bottle and the handheld brown bottle with white lid quickly.",
+    "Collect the red bottle with screw cap, then pick up the white-capped brown cylindrical bottle.",
+    "Grasp the medium-size plastic bottle first, then take the plastic bottle for liquids.",
+    "Secure the red bottle with curved grooves, then secure the plastic bottle for liquids.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the plastic bottle with printed label with the other.",
+    "Catch the medium-size plastic bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Hold both the bottle with red cap and the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, then take hold of the smooth brown bottle.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with white cap."
+  ],
+  "unseen": [
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode38.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbf7e1a26705aca10a86866fdf55db0c1b2ca330
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld plastic bottle and then pick up the bottle with brown body and white top.",
+    "Lift the bottle with red cap and also take hold of the bottle with white cap.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Catch the handheld plastic bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Use both arms to lift the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Grasp the red bottle with white bottom text first, then take the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the red bottle with curved grooves or the bottle with white cap.",
+    "Grab and hold the red bottle with white bottom text, then grab the handheld brown bottle with white lid.",
+    "Hold onto the red bottle and then get the plastic bottle with printed label.",
+    "Hold the red bottle with one arm, hold the bottle with brown body and white top with the other.",
+    "Collect the smooth red cylindrical bottle, then pick up the smooth brown bottle.",
+    "Catch the plastic bottle with bright red color, then catch the medium plastic bottle.",
+    "Catch the smooth red cylindrical bottle, then take hold of the plastic bottle for liquids.",
+    "Use one arm for the red bottle with curved grooves and the other for the cylindrical bottle with narrow neck.",
+    "Pick up both the medium-size plastic bottle and the smooth brown bottle.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the plastic bottle for liquids.",
+    "Assign one arm to catch the red bottle, one for the bottle with white cap.",
+    "Catch the handheld plastic bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Assign one arm to each of the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Grab the red bottle using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Use one arm for the red bottle with narrow neck, the other for the smooth brown bottle.",
+    "Use both arms to pick up the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Take hold of the bottle with red cap and the medium bottle with smooth texture.",
+    "Grab the red bottle with screw cap, pick up the medium bottle with smooth texture.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Grab the red bottle and pick up the medium bottle with smooth texture.",
+    "Pick both the yellow text bottle and the white-capped brown cylindrical bottle one after another.",
+    "Pick up both the plastic bottle with bright red color and the plastic bottle for liquids together.",
+    "With two arms, catch both the bottle with red cap and the smooth brown bottle.",
+    "Lift both bottles, the plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Lift the red bottle with screw cap and the smooth brown bottle with separate arms.",
+    "Secure the plastic bottle and the handheld brown bottle with white lid in succession.",
+    "Hold onto the red bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Hold both the handheld plastic bottle and the bottle with dark brown color.",
+    "Hold the red bottle in one arm, the bottle with dark brown color in the other.",
+    "Catch the bottle with red cap, then grab the plastic bottle for liquids too.",
+    "Lift both the handheld plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Secure both the medium-size plastic bottle and the bottle with dark brown color quickly.",
+    "With both arms, pick up the yellow text bottle, then the plastic bottle with printed label.",
+    "Secure the red bottle with curved grooves, then secure the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with narrow neck with one arm, the medium bottle with smooth texture with the other.",
+    "Lift the red bottle with curved grooves, continue and pick up the rounded bottle with printed details.",
+    "Hold the handheld plastic bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Catch both the medium-size plastic bottle and the medium bottle with smooth texture quickly.",
+    "Grab the red bottle with narrow neck using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Catch the red bottle with narrow neck, grab the white-capped brown cylindrical bottle next.",
+    "Use one arm for the plastic bottle, another for the smooth brown bottle.",
+    "Pick up the handheld plastic bottle and then pick up the plastic bottle for liquids.",
+    "Lift the smooth red cylindrical bottle and also take hold of the smooth brown bottle.",
+    "Pick up the bottle with red cap, then pick up the handheld brown bottle with white lid.",
+    "Catch the red bottle with curved grooves with one arm, the bottle with white cap with another arm.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck with one arm, the bottle with white cap with the other.",
+    "Use each arm to lift the plastic bottle and the bottle with white cap.",
+    "Use both arms to lift the red bottle and the cylindrical bottle with narrow neck.",
+    "Grasp the medium-size plastic bottle first, then take the medium plastic bottle.",
+    "Let each arm grab either the red bottle with curved grooves or the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with white bottom text, then grab the medium bottle with smooth texture.",
+    "Hold onto the medium-size plastic bottle and then get the bottle with dark brown color.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with white cap with the other.",
+    "Collect the red bottle with narrow neck, then pick up the handheld brown bottle with white lid.",
+    "Catch the yellow text bottle, then catch the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves, then take hold of the cylindrical bottle with narrow neck.",
+    "Use one arm for the yellow text bottle and the other for the white-capped brown cylindrical bottle.",
+    "Pick up both the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Each arm should pick up one: the plastic bottle, then the bottle with dark brown color.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the medium plastic bottle.",
+    "Catch the red bottle with curved grooves in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Assign one arm to each of the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with white bottom text using an arm and the medium plastic bottle with the other arm.",
+    "Use one arm for the handheld plastic bottle, the other for the plastic bottle with printed label.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Take hold of the bottle with red cap and the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves, pick up the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with white bottom text and the smooth brown bottle.",
+    "Grab the red bottle with curved grooves and pick up the plastic bottle for liquids.",
+    "Pick both the plastic bottle with bright red color and the cylindrical bottle with narrow neck one after another.",
+    "Pick up both the red bottle with screw cap and the rounded bottle with printed details together.",
+    "With two arms, catch both the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the plastic bottle with printed label with the other.",
+    "Lift the red bottle and the rounded bottle with printed details with separate arms.",
+    "Secure the plastic bottle with bright red color and the rounded bottle with printed details in succession.",
+    "Hold onto the yellow text bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Hold both the plastic bottle with bright red color and the bottle with white cap.",
+    "Hold the medium-size plastic bottle in one arm, the bottle with dark brown color in the other.",
+    "Catch the red bottle with screw cap, then grab the plastic bottle with printed label too.",
+    "Lift both the yellow text bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Secure both the handheld plastic bottle and the bottle with white cap quickly.",
+    "With both arms, pick up the medium-size plastic bottle, then the bottle with white cap.",
+    "Secure the plastic bottle, then secure the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Lift the handheld plastic bottle, continue and pick up the bottle with dark brown color.",
+    "Hold the red bottle with narrow neck in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Catch both the red bottle with curved grooves and the bottle with white cap quickly.",
+    "Grab the red bottle with screw cap using one arm and the handheld brown bottle with white lid using the other.",
+    "Catch the yellow text bottle, grab the plastic bottle for liquids next.",
+    "Use one arm for the medium-size plastic bottle, another for the bottle with white cap."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode39.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..e442b98ef91dd250cf8ecd611b34ed048fe99d9b
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the smooth red cylindrical bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Catch the red bottle with curved grooves in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Grab the bottle with red cap using an arm and the bottle with white cap with the other arm.",
+    "Use one arm for the red bottle and the other for the medium bottle with smooth texture.",
+    "Use both arms to pick up the handheld plastic bottle and the plastic bottle for liquids.",
+    "Lift the plastic bottle with bright red color and also take hold of the rounded bottle with printed details.",
+    "Grasp the medium-size plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Catch both the red bottle with curved grooves and the plastic bottle with printed label quickly.",
+    "Grab and hold the plastic bottle with bright red color, then grab the bottle with white cap.",
+    "Assign one arm to each of the red bottle and the bottle with brown body and white top.",
+    "Pick up both the red bottle with screw cap and the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with screw cap, pick up the cylindrical bottle with narrow neck.",
+    "Each arm should pick up one: the plastic bottle, then the handheld brown bottle with white lid.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Grab the red bottle with one arm, the bottle with brown body and white top with the other.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Lift the plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Pick up the medium-size plastic bottle and then pick up the medium plastic bottle.",
+    "Use one arm for the medium-size plastic bottle, another for the plastic bottle for liquids.",
+    "Take hold of the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "Lift the plastic bottle with bright red color, continue and pick up the bottle with white cap.",
+    "Catch the red bottle with curved grooves, grab the rounded bottle with printed details next.",
+    "Catch the red bottle with screw cap, then take hold of the rounded bottle with printed details.",
+    "Lift both the red bottle with white bottom text and the bottle with dark brown color simultaneously.",
+    "Pick both the plastic bottle and the bottle with brown body and white top one after another.",
+    "Hold the plastic bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Hold the red bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Collect the bottle with red cap, then pick up the bottle with brown body and white top.",
+    "Secure the bottle with red cap and the cylindrical bottle with narrow neck in succession.",
+    "Grab the yellow text bottle using one arm and the bottle with white cap using the other.",
+    "Hold onto the plastic bottle with bright red color and then get the medium plastic bottle.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Pick up both the bottle with red cap and the bottle with brown body and white top together.",
+    "One arm grabs the bottle with red cap; the other arm grabs the bottle with white cap.",
+    "With two arms, catch both the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves, then catch the plastic bottle for liquids.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Hold both the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Hold the plastic bottle with bright red color in one arm, catch the bottle with dark brown color with the other arm.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the bottle with dark brown color.",
+    "Use one arm for the yellow text bottle, the other for the white-capped brown cylindrical bottle.",
+    "Secure both the red bottle and the medium bottle with smooth texture quickly.",
+    "Secure the bottle with red cap, then secure the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves and pick up the plastic bottle for liquids.",
+    "Pick up the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck with one arm, the plastic bottle with printed label with the other.",
+    "Catch the red bottle, then grab the bottle with brown body and white top too.",
+    "Let each arm grab either the red bottle with white bottom text or the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Catch the smooth red cylindrical bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Grab the red bottle with white bottom text using an arm and the medium plastic bottle with the other arm.",
+    "Use one arm for the yellow text bottle and the other for the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Lift the red bottle with screw cap and also take hold of the rounded bottle with printed details.",
+    "Grasp the red bottle with screw cap first, then take the smooth brown bottle.",
+    "Use both arms to pick up the red bottle with curved grooves and the bottle with dark brown color.",
+    "Catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck quickly.",
+    "Grab and hold the plastic bottle with bright red color, then grab the bottle with brown body and white top.",
+    "Assign one arm to each of the yellow text bottle and the handheld brown bottle with white lid.",
+    "Pick up both the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Grab the handheld plastic bottle, pick up the bottle with brown body and white top.",
+    "Each arm should pick up one: the yellow text bottle, then the plastic bottle for liquids.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the medium bottle with smooth texture with the other.",
+    "Grab the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use each arm to lift the yellow text bottle and the bottle with brown body and white top.",
+    "Lift the handheld plastic bottle and the bottle with brown body and white top with separate arms.",
+    "Pick up the red bottle with narrow neck and then pick up the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle, another for the handheld brown bottle with white lid.",
+    "Take hold of the plastic bottle and the bottle with white cap.",
+    "Lift the medium-size plastic bottle, continue and pick up the smooth brown bottle.",
+    "Catch the plastic bottle with bright red color, grab the smooth brown bottle next.",
+    "Catch the red bottle with screw cap, then take hold of the cylindrical bottle with narrow neck.",
+    "Lift both the red bottle with narrow neck and the bottle with brown body and white top simultaneously.",
+    "Pick both the handheld plastic bottle and the plastic bottle with printed label one after another.",
+    "Hold the red bottle with white bottom text in one arm, the plastic bottle with printed label in the other.",
+    "Hold the red bottle with one arm, hold the smooth brown bottle with the other.",
+    "Collect the plastic bottle with bright red color, then pick up the bottle with dark brown color.",
+    "Secure the medium-size plastic bottle and the bottle with dark brown color in succession.",
+    "Grab the yellow text bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Hold onto the red bottle with screw cap and then get the handheld brown bottle with white lid.",
+    "Hold onto the red bottle with curved grooves, then pick up the bottle with dark brown color.",
+    "Pick up both the plastic bottle with bright red color and the smooth brown bottle together.",
+    "One arm grabs the red bottle; the other arm grabs the medium bottle with smooth texture.",
+    "With two arms, catch both the red bottle with curved grooves and the smooth brown bottle.",
+    "Catch the handheld plastic bottle, then catch the medium bottle with smooth texture.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the medium bottle with smooth texture.",
+    "Use both arms to lift the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Hold both the plastic bottle and the smooth brown bottle.",
+    "Hold the red bottle with white bottom text in one arm, catch the bottle with white cap with the other arm.",
+    "With both arms, pick up the bottle with red cap, then the bottle with white cap.",
+    "Use one arm for the bottle with red cap, the other for the rounded bottle with printed details.",
+    "Secure both the red bottle with narrow neck and the rounded bottle with printed details quickly.",
+    "Secure the plastic bottle with bright red color, then secure the bottle with dark brown color.",
+    "Grab the yellow text bottle and pick up the bottle with brown body and white top.",
+    "Pick up the red bottle with curved grooves, then pick up the handheld brown bottle with white lid.",
+    "Grab the plastic bottle with bright red color with one arm, the rounded bottle with printed details with the other.",
+    "Catch the yellow text bottle, then grab the smooth brown bottle too.",
+    "Let each arm grab either the smooth red cylindrical bottle or the bottle with brown body and white top."
+  ],
+  "unseen": [
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode4.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ba696486e1f73aae3df02d9a574741ff1221ab6
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold onto the yellow text bottle, then pick up the bottle with dark brown color.",
+    "Catch the red bottle with white bottom text, then grab the rounded bottle with printed details too.",
+    "Catch the medium-size plastic bottle with one arm, the rounded bottle with printed details with another arm.",
+    "Grab the red bottle with narrow neck using an arm and the bottle with brown body and white top with the other arm.",
+    "Catch the handheld plastic bottle, then take hold of the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle and the white-capped brown cylindrical bottle.",
+    "Grasp the red bottle with narrow neck first, then take the bottle with dark brown color.",
+    "Collect the medium-size plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Hold the bottle with red cap in one arm, catch the rounded bottle with printed details with the other arm.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the medium bottle with smooth texture.",
+    "Let each arm grab either the medium-size plastic bottle or the bottle with dark brown color.",
+    "Lift the medium-size plastic bottle and also take hold of the medium plastic bottle.",
+    "Use one arm for the red bottle with curved grooves, another for the white-capped brown cylindrical bottle.",
+    "Pick both the medium-size plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Secure the medium-size plastic bottle and the medium plastic bottle in succession.",
+    "Hold the red bottle with white bottom text with one arm, hold the bottle with dark brown color with the other.",
+    "Grab the yellow text bottle with one arm, the bottle with white cap with the other.",
+    "Pick up the plastic bottle with bright red color and then pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the red bottle with curved grooves and the bottle with white cap.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with white cap.",
+    "With both arms, pick up the red bottle with screw cap, then the bottle with dark brown color.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Secure the bottle with red cap, then secure the bottle with white cap.",
+    "Catch the bottle with red cap in one arm and the bottle with white cap in the other arm.",
+    "With two arms, catch both the red bottle and the bottle with white cap.",
+    "Hold both the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the bottle with brown body and white top.",
+    "Pick up the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with curved grooves and pick up the bottle with white cap.",
+    "Grab the red bottle with screw cap, pick up the rounded bottle with printed details.",
+    "Use one arm for the red bottle with narrow neck and the other for the handheld brown bottle with white lid.",
+    "Lift the yellow text bottle and the plastic bottle with printed label with separate arms.",
+    "Lift the red bottle with screw cap, continue and pick up the medium plastic bottle.",
+    "Lift both the plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Take hold of the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Catch both the red bottle and the plastic bottle with printed label quickly.",
+    "Grab and hold the red bottle, then grab the medium plastic bottle.",
+    "Hold onto the red bottle with narrow neck and then get the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with narrow neck using one arm and the handheld brown bottle with white lid using the other.",
+    "Use each arm to lift the red bottle with narrow neck and the bottle with white cap.",
+    "Use both arms to pick up the red bottle and the medium bottle with smooth texture.",
+    "Pick up both the yellow text bottle and the medium bottle with smooth texture.",
+    "Hold the bottle with red cap in one arm, the medium bottle with smooth texture in the other.",
+    "Secure both the plastic bottle and the bottle with brown body and white top quickly.",
+    "Pick up both the plastic bottle and the bottle with brown body and white top together.",
+    "Assign one arm to catch the yellow text bottle, one for the plastic bottle for liquids.",
+    "Catch the red bottle with screw cap, grab the plastic bottle for liquids next.",
+    "Catch the red bottle with curved grooves, then catch the medium bottle with smooth texture.",
+    "Use one arm for the yellow text bottle, the other for the bottle with brown body and white top.",
+    "Hold onto the red bottle with screw cap, then pick up the plastic bottle with printed label.",
+    "Catch the yellow text bottle, then grab the bottle with white cap too.",
+    "Catch the handheld plastic bottle with one arm, the bottle with white cap with another arm.",
+    "Grab the red bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Catch the red bottle, then take hold of the medium plastic bottle.",
+    "Use both arms to pick up the red bottle and the smooth brown bottle.",
+    "Grasp the yellow text bottle first, then take the white-capped brown cylindrical bottle.",
+    "Collect the smooth red cylindrical bottle, then pick up the bottle with dark brown color.",
+    "Hold the bottle with red cap in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the handheld brown bottle with white lid.",
+    "Let each arm grab either the smooth red cylindrical bottle or the bottle with brown body and white top.",
+    "Lift the red bottle with white bottom text and also take hold of the bottle with dark brown color.",
+    "Use one arm for the plastic bottle, another for the medium plastic bottle.",
+    "Pick both the red bottle with narrow neck and the medium plastic bottle one after another.",
+    "Grab the red bottle with one arm, the medium plastic bottle with the other.",
+    "Secure the red bottle with curved grooves and the plastic bottle for liquids in succession.",
+    "Hold the red bottle with narrow neck with one arm, hold the medium bottle with smooth texture with the other.",
+    "Grab the plastic bottle with bright red color with one arm, the medium plastic bottle with the other.",
+    "Pick up the red bottle with screw cap and then pick up the handheld brown bottle with white lid.",
+    "Assign one arm to each of the red bottle with screw cap and the medium plastic bottle.",
+    "Use both arms to lift the red bottle with curved grooves and the bottle with brown body and white top.",
+    "With both arms, pick up the plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the bottle with white cap with the other.",
+    "Secure the red bottle with white bottom text, then secure the medium plastic bottle.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with dark brown color in the other arm.",
+    "With two arms, catch both the red bottle with screw cap and the medium plastic bottle.",
+    "Hold both the red bottle and the rounded bottle with printed details.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the handheld brown bottle with white lid.",
+    "Pick up the smooth red cylindrical bottle, then pick up the plastic bottle with printed label.",
+    "Grab the plastic bottle and pick up the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle for liquids.",
+    "Use one arm for the bottle with red cap and the other for the medium bottle with smooth texture.",
+    "Lift the plastic bottle and the cylindrical bottle with narrow neck with separate arms.",
+    "Lift the red bottle with curved grooves, continue and pick up the rounded bottle with printed details.",
+    "Lift both the plastic bottle with bright red color and the smooth brown bottle simultaneously.",
+    "Take hold of the red bottle with screw cap and the plastic bottle with printed label.",
+    "Catch both the plastic bottle with bright red color and the bottle with dark brown color quickly.",
+    "Grab and hold the yellow text bottle, then grab the plastic bottle with printed label.",
+    "Hold onto the plastic bottle and then get the handheld brown bottle with white lid.",
+    "Grab the medium-size plastic bottle using one arm and the bottle with brown body and white top using the other.",
+    "Use each arm to lift the bottle with red cap and the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Hold the red bottle with white bottom text in one arm, the bottle with white cap in the other.",
+    "Secure both the medium-size plastic bottle and the medium plastic bottle quickly.",
+    "Pick up both the red bottle and the smooth brown bottle together.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the plastic bottle with printed label.",
+    "Catch the plastic bottle, grab the medium bottle with smooth texture next.",
+    "Catch the handheld plastic bottle, then catch the medium plastic bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode40.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d15a586a038df1e2464a9844dd2252df716f89d
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift both the handheld plastic bottle and the bottle with white cap simultaneously.",
+    "Hold onto the yellow text bottle and then get the bottle with dark brown color.",
+    "Pick up the medium-size plastic bottle, then pick up the bottle with white cap.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle, then take hold of the medium plastic bottle.",
+    "Hold the handheld plastic bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with screw cap with one arm, the plastic bottle for liquids with another arm.",
+    "Pick up the plastic bottle with bright red color and then pick up the plastic bottle for liquids.",
+    "Pick up both the bottle with red cap and the bottle with white cap.",
+    "Hold both the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Assign one arm to each of the red bottle and the smooth brown bottle.",
+    "Take hold of the medium-size plastic bottle and the plastic bottle with printed label.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with dark brown color.",
+    "Use both arms to pick up the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Grab the smooth red cylindrical bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Secure both the red bottle with curved grooves and the plastic bottle for liquids quickly.",
+    "Grab and hold the plastic bottle, then grab the bottle with brown body and white top.",
+    "Catch both the red bottle with narrow neck and the plastic bottle with printed label quickly.",
+    "Lift the red bottle with screw cap and the rounded bottle with printed details with separate arms.",
+    "Secure the plastic bottle with bright red color and the medium plastic bottle in succession.",
+    "Pick both the red bottle with screw cap and the rounded bottle with printed details one after another.",
+    "Catch the handheld plastic bottle, grab the medium bottle with smooth texture next.",
+    "With two arms, catch both the yellow text bottle and the smooth brown bottle.",
+    "Grab the yellow text bottle using one arm and the plastic bottle with printed label using the other.",
+    "Grasp the red bottle with screw cap first, then take the handheld brown bottle with white lid.",
+    "Grab the bottle with red cap with one arm, the bottle with brown body and white top with the other.",
+    "Lift the red bottle and also take hold of the plastic bottle with printed label.",
+    "Catch the red bottle with white bottom text, then grab the bottle with brown body and white top too.",
+    "Use one arm for the red bottle with screw cap, the other for the medium bottle with smooth texture.",
+    "Hold onto the red bottle with white bottom text, then pick up the medium plastic bottle.",
+    "Grab the medium-size plastic bottle, pick up the rounded bottle with printed details.",
+    "Let each arm grab either the plastic bottle with bright red color or the handheld brown bottle with white lid.",
+    "Collect the handheld plastic bottle, then pick up the medium plastic bottle.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Use one arm for the red bottle with curved grooves, another for the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Catch the handheld plastic bottle in one arm and the bottle with brown body and white top in the other arm.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the smooth brown bottle.",
+    "Lift the red bottle, continue and pick up the medium bottle with smooth texture.",
+    "Secure the red bottle, then secure the bottle with white cap.",
+    "Use both arms to lift the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with white bottom text in one arm, the bottle with dark brown color in the other.",
+    "Hold the red bottle with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Pick up both the red bottle and the plastic bottle with printed label together.",
+    "Catch the red bottle, then catch the plastic bottle with printed label.",
+    "Use one arm for the bottle with red cap and the other for the bottle with brown body and white top.",
+    "Grab the red bottle and pick up the smooth brown bottle.",
+    "Lift both the handheld plastic bottle and the bottle with brown body and white top simultaneously.",
+    "Hold onto the red bottle with screw cap and then get the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle, then pick up the medium bottle with smooth texture.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the bottle with brown body and white top.",
+    "Catch the red bottle with white bottom text, then take hold of the handheld brown bottle with white lid.",
+    "Hold the red bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "With both arms, pick up the handheld plastic bottle, then the rounded bottle with printed details.",
+    "Catch the medium-size plastic bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Pick up the red bottle with white bottom text and then pick up the medium plastic bottle.",
+    "Pick up both the red bottle with curved grooves and the bottle with dark brown color.",
+    "Hold both the medium-size plastic bottle and the smooth brown bottle.",
+    "Assign one arm to each of the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "Take hold of the handheld plastic bottle and the bottle with brown body and white top.",
+    "Each arm should pick up one: the red bottle, then the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Use both arms to pick up the bottle with red cap and the bottle with white cap.",
+    "Grab the handheld plastic bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Secure both the handheld plastic bottle and the rounded bottle with printed details quickly.",
+    "Grab and hold the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck.",
+    "Catch both the plastic bottle with bright red color and the cylindrical bottle with narrow neck quickly.",
+    "Lift the smooth red cylindrical bottle and the smooth brown bottle with separate arms.",
+    "Secure the red bottle with narrow neck and the white-capped brown cylindrical bottle in succession.",
+    "Pick both the handheld plastic bottle and the plastic bottle with printed label one after another.",
+    "Catch the plastic bottle, grab the plastic bottle with printed label next.",
+    "With two arms, catch both the red bottle with white bottom text and the bottle with white cap.",
+    "Grab the yellow text bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "Grasp the plastic bottle first, then take the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the rounded bottle with printed details with the other.",
+    "Lift the red bottle with narrow neck and also take hold of the handheld brown bottle with white lid.",
+    "Catch the red bottle, then grab the medium bottle with smooth texture too.",
+    "Use one arm for the bottle with red cap, the other for the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle, then pick up the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap, pick up the medium bottle with smooth texture.",
+    "Let each arm grab either the red bottle or the handheld brown bottle with white lid.",
+    "Collect the yellow text bottle, then pick up the handheld brown bottle with white lid.",
+    "Lift both bottles, the bottle with red cap with one arm, the medium bottle with smooth texture with the other.",
+    "Use one arm for the red bottle with white bottom text, another for the plastic bottle for liquids.",
+    "Grab the plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use each arm to lift the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Catch the handheld plastic bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the bottle with dark brown color.",
+    "Lift the yellow text bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Secure the handheld plastic bottle, then secure the medium plastic bottle.",
+    "Use both arms to lift the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Hold the red bottle with curved grooves in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Hold the yellow text bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Pick up both the red bottle with curved grooves and the plastic bottle for liquids together.",
+    "Catch the red bottle, then catch the bottle with white cap.",
+    "Use one arm for the medium-size plastic bottle and the other for the medium bottle with smooth texture.",
+    "Grab the red bottle and pick up the plastic bottle for liquids."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to grab the shiny red bottle and the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode41.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b4f075ec422c30cb3c134ceecf7ac0a7124100
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle with screw cap, then take hold of the bottle with brown body and white top.",
+    "Catch the handheld plastic bottle, grab the white-capped brown cylindrical bottle next.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the plastic bottle with printed label.",
+    "Hold the red bottle with screw cap in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Catch the red bottle with white bottom text in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Use each arm to lift the red bottle with white bottom text and the bottle with white cap.",
+    "Assign one arm to each of the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Grab the handheld plastic bottle using one arm and the bottle with dark brown color using the other.",
+    "Let each arm grab either the red bottle with screw cap or the bottle with dark brown color.",
+    "Pick both the red bottle with screw cap and the smooth brown bottle one after another.",
+    "Hold both the red bottle and the bottle with dark brown color.",
+    "Catch the plastic bottle, then catch the plastic bottle with printed label.",
+    "Pick up both the smooth red cylindrical bottle and the bottle with white cap together.",
+    "Use both arms to lift the plastic bottle with bright red color and the bottle with white cap.",
+    "Catch the smooth red cylindrical bottle, then grab the white-capped brown cylindrical bottle too.",
+    "Assign one arm to catch the bottle with red cap, one for the smooth brown bottle.",
+    "Grab the red bottle with screw cap with one arm, the medium bottle with smooth texture with the other.",
+    "Hold the medium-size plastic bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Use one arm for the yellow text bottle, another for the plastic bottle with printed label.",
+    "Lift the red bottle with white bottom text and also take hold of the white-capped brown cylindrical bottle.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the handheld brown bottle with white lid.",
+    "Grab the smooth red cylindrical bottle and pick up the plastic bottle with printed label.",
+    "Secure the red bottle with screw cap and the handheld brown bottle with white lid in succession.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the plastic bottle for liquids with the other.",
+    "Use both arms to pick up the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Pick up both the plastic bottle and the bottle with white cap.",
+    "Pick up the red bottle and then pick up the bottle with dark brown color.",
+    "Use one arm for the handheld plastic bottle, the other for the bottle with white cap.",
+    "Catch the red bottle with curved grooves with one arm, the handheld brown bottle with white lid with another arm.",
+    "Take hold of the red bottle with white bottom text and the bottle with dark brown color.",
+    "With both arms, pick up the plastic bottle, then the medium bottle with smooth texture.",
+    "Grab and hold the yellow text bottle, then grab the white-capped brown cylindrical bottle.",
+    "Grab the bottle with red cap, pick up the cylindrical bottle with narrow neck.",
+    "Lift the bottle with red cap, continue and pick up the medium plastic bottle.",
+    "Grab the bottle with red cap using an arm and the bottle with dark brown color with the other arm.",
+    "Lift both the handheld plastic bottle and the plastic bottle for liquids simultaneously.",
+    "Collect the red bottle with curved grooves, then pick up the rounded bottle with printed details.",
+    "Pick up the medium-size plastic bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Secure both the plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Grasp the red bottle first, then take the plastic bottle for liquids.",
+    "Hold the plastic bottle with bright red color in one arm, catch the medium plastic bottle with the other arm.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with white cap.",
+    "Use both arms to pick up the red bottle with screw cap and the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap with one arm, the bottle with dark brown color with the other.",
+    "One arm grabs the red bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck quickly.",
+    "Hold onto the plastic bottle and then get the plastic bottle with printed label.",
+    "Secure the medium-size plastic bottle, then secure the smooth brown bottle.",
+    "Use one arm for the plastic bottle with bright red color and the other for the bottle with brown body and white top.",
+    "Lift the plastic bottle and the medium plastic bottle with separate arms.",
+    "Catch the red bottle with curved grooves, then take hold of the medium plastic bottle.",
+    "Catch the red bottle with white bottom text, grab the medium bottle with smooth texture next.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with white cap.",
+    "Hold the yellow text bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Catch the red bottle with white bottom text in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Use each arm to lift the medium-size plastic bottle and the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle using one arm and the bottle with dark brown color using the other.",
+    "Let each arm grab either the bottle with red cap or the smooth brown bottle.",
+    "Pick both the bottle with red cap and the medium bottle with smooth texture one after another.",
+    "Hold both the yellow text bottle and the medium bottle with smooth texture.",
+    "Catch the plastic bottle with bright red color, then catch the medium bottle with smooth texture.",
+    "Pick up both the plastic bottle with bright red color and the medium bottle with smooth texture together.",
+    "Use both arms to lift the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Catch the red bottle with narrow neck, then grab the plastic bottle with printed label too.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the plastic bottle for liquids.",
+    "Grab the yellow text bottle with one arm, the medium plastic bottle with the other.",
+    "Hold the red bottle with white bottom text with one arm, hold the plastic bottle with printed label with the other.",
+    "Use one arm for the red bottle, another for the bottle with white cap.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with brown body and white top.",
+    "Hold onto the red bottle with narrow neck, then pick up the medium plastic bottle.",
+    "Grab the red bottle and pick up the medium bottle with smooth texture.",
+    "Secure the plastic bottle with bright red color and the handheld brown bottle with white lid in succession.",
+    "Lift both bottles, the yellow text bottle with one arm, the smooth brown bottle with the other.",
+    "Use both arms to pick up the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Pick up both the plastic bottle with bright red color and the bottle with white cap.",
+    "Pick up the red bottle with curved grooves and then pick up the bottle with white cap.",
+    "Use one arm for the red bottle with curved grooves, the other for the cylindrical bottle with narrow neck.",
+    "Catch the bottle with red cap with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Take hold of the red bottle with screw cap and the bottle with brown body and white top.",
+    "With both arms, pick up the yellow text bottle, then the bottle with dark brown color.",
+    "Grab and hold the medium-size plastic bottle, then grab the medium plastic bottle.",
+    "Grab the plastic bottle with bright red color, pick up the bottle with dark brown color.",
+    "Lift the red bottle, continue and pick up the plastic bottle with printed label.",
+    "Grab the yellow text bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Lift both the plastic bottle and the smooth brown bottle simultaneously.",
+    "Collect the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Pick up the handheld plastic bottle, then pick up the plastic bottle with printed label.",
+    "Secure both the plastic bottle with bright red color and the handheld brown bottle with white lid quickly.",
+    "Grasp the smooth red cylindrical bottle first, then take the rounded bottle with printed details.",
+    "Hold the red bottle with narrow neck in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with narrow neck and the smooth brown bottle.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle for liquids with the other.",
+    "One arm grabs the plastic bottle; the other arm grabs the medium plastic bottle.",
+    "Catch both the plastic bottle with bright red color and the rounded bottle with printed details quickly.",
+    "Hold onto the handheld plastic bottle and then get the rounded bottle with printed details.",
+    "Secure the medium-size plastic bottle, then secure the plastic bottle for liquids.",
+    "Use one arm for the yellow text bottle and the other for the medium bottle with smooth texture.",
+    "Lift the bottle with red cap and the plastic bottle for liquids with separate arms."
+  ],
+  "unseen": [
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode42.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..e55b58bbd78dd23cffaf96cd810c9cd336e8e445
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle with bright red color, pick up the bottle with brown body and white top.",
+    "With two arms, catch both the red bottle with curved grooves and the bottle with brown body and white top.",
+    "Grasp the red bottle first, then take the handheld brown bottle with white lid.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Use one arm for the red bottle with curved grooves, another for the rounded bottle with printed details.",
+    "Assign one arm to each of the red bottle with screw cap and the bottle with brown body and white top.",
+    "Catch the red bottle with curved grooves, then catch the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Secure both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck quickly.",
+    "Pick up both the plastic bottle and the white-capped brown cylindrical bottle together.",
+    "Catch both the red bottle and the plastic bottle with printed label quickly.",
+    "Lift the medium-size plastic bottle and the medium plastic bottle with separate arms.",
+    "Hold onto the red bottle with screw cap and then get the handheld brown bottle with white lid.",
+    "Assign one arm to catch the red bottle with screw cap, one for the handheld brown bottle with white lid.",
+    "Use one arm for the bottle with red cap and the other for the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Catch the red bottle with narrow neck with one arm, the handheld brown bottle with white lid with another arm.",
+    "Grab the smooth red cylindrical bottle using an arm and the plastic bottle with printed label with the other arm.",
+    "Grab the red bottle with white bottom text with one arm, the bottle with white cap with the other.",
+    "Lift the plastic bottle with bright red color, continue and pick up the medium plastic bottle.",
+    "Use each arm to lift the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Grab the smooth red cylindrical bottle and pick up the rounded bottle with printed details.",
+    "Pick up the red bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle using one arm and the bottle with white cap using the other.",
+    "With both arms, pick up the medium-size plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Pick up the smooth red cylindrical bottle, then pick up the plastic bottle with printed label.",
+    "Grab the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Secure the yellow text bottle, then secure the plastic bottle for liquids.",
+    "Hold onto the handheld plastic bottle, then pick up the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle, then take hold of the rounded bottle with printed details.",
+    "Take hold of the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Catch the red bottle, grab the rounded bottle with printed details next.",
+    "Pick both the handheld plastic bottle and the smooth brown bottle one after another.",
+    "Let each arm grab either the bottle with red cap or the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle, then grab the bottle with dark brown color.",
+    "Catch the red bottle with white bottom text, then grab the medium plastic bottle too.",
+    "Use both arms to pick up the yellow text bottle and the handheld brown bottle with white lid.",
+    "Pick up both the handheld plastic bottle and the medium bottle with smooth texture.",
+    "One arm grabs the red bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Hold the yellow text bottle in one arm, the rounded bottle with printed details in the other.",
+    "Secure the yellow text bottle and the smooth brown bottle in succession.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Each arm should pick up one: the red bottle, then the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle, the other for the white-capped brown cylindrical bottle.",
+    "Lift both the yellow text bottle and the smooth brown bottle simultaneously.",
+    "Hold both the bottle with red cap and the medium plastic bottle.",
+    "Catch the red bottle with screw cap in one arm and the bottle with white cap in the other arm.",
+    "Lift the red bottle and also take hold of the bottle with dark brown color.",
+    "Hold the handheld plastic bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Collect the red bottle with narrow neck, then pick up the medium plastic bottle.",
+    "Grab the red bottle with curved grooves, pick up the medium bottle with smooth texture.",
+    "With two arms, catch both the red bottle with white bottom text and the medium plastic bottle.",
+    "Grasp the plastic bottle first, then take the white-capped brown cylindrical bottle.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Use one arm for the smooth red cylindrical bottle, another for the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Catch the plastic bottle with bright red color, then catch the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Secure both the red bottle with screw cap and the bottle with brown body and white top quickly.",
+    "Pick up both the red bottle with white bottom text and the medium plastic bottle together.",
+    "Catch both the bottle with red cap and the handheld brown bottle with white lid quickly.",
+    "Lift the plastic bottle with bright red color and the rounded bottle with printed details with separate arms.",
+    "Hold onto the red bottle with narrow neck and then get the bottle with white cap.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the medium plastic bottle.",
+    "Use one arm for the red bottle and the other for the bottle with white cap.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle with printed label.",
+    "Catch the red bottle with narrow neck with one arm, the bottle with dark brown color with another arm.",
+    "Grab the red bottle with white bottom text using an arm and the rounded bottle with printed details with the other arm.",
+    "Grab the plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Lift the red bottle with screw cap, continue and pick up the rounded bottle with printed details.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap and pick up the medium bottle with smooth texture.",
+    "Pick up the bottle with red cap and then pick up the medium plastic bottle.",
+    "Grab the smooth red cylindrical bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "With both arms, pick up the red bottle with screw cap, then the white-capped brown cylindrical bottle.",
+    "Pick up the red bottle, then pick up the rounded bottle with printed details.",
+    "Grab the red bottle with one arm, the bottle with dark brown color with the other.",
+    "Secure the red bottle with narrow neck, then secure the medium plastic bottle.",
+    "Hold onto the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "Catch the plastic bottle, then take hold of the bottle with white cap.",
+    "Take hold of the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Catch the plastic bottle, grab the smooth brown bottle next.",
+    "Pick both the medium-size plastic bottle and the rounded bottle with printed details one after another.",
+    "Let each arm grab either the medium-size plastic bottle or the rounded bottle with printed details.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle, then grab the medium plastic bottle too.",
+    "Use both arms to pick up the plastic bottle and the bottle with brown body and white top.",
+    "Pick up both the red bottle with screw cap and the medium bottle with smooth texture.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the plastic bottle for liquids.",
+    "Hold the red bottle with white bottom text in one arm, the bottle with white cap in the other.",
+    "Secure the red bottle with white bottom text and the bottle with white cap in succession.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the bottle with dark brown color with the other.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle with bright red color, the other for the medium plastic bottle.",
+    "Lift both the medium-size plastic bottle and the bottle with brown body and white top simultaneously.",
+    "Hold both the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Catch the plastic bottle in one arm and the medium bottle with smooth texture in the other arm.",
+    "Lift the medium-size plastic bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Hold the red bottle with narrow neck with one arm, hold the bottle with dark brown color with the other.",
+    "Collect the plastic bottle with bright red color, then pick up the smooth brown bottle."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode43.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..77817dfd72573a45d72b4ead7522f34da109da21
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With two arms, catch both the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "Catch the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Grab the red bottle with narrow neck and pick up the bottle with dark brown color.",
+    "Grab and hold the plastic bottle, then grab the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the medium-size plastic bottle or the plastic bottle with printed label.",
+    "Lift the red bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with one arm, the bottle with dark brown color with the other.",
+    "Hold onto the yellow text bottle and then get the plastic bottle with printed label.",
+    "Catch the red bottle with narrow neck, then grab the white-capped brown cylindrical bottle too.",
+    "Catch the smooth red cylindrical bottle, grab the plastic bottle with printed label next.",
+    "Secure both the red bottle with narrow neck and the cylindrical bottle with narrow neck quickly.",
+    "Pick up the red bottle and then pick up the bottle with brown body and white top.",
+    "Assign one arm to catch the yellow text bottle, one for the plastic bottle with printed label.",
+    "Use both arms to pick up the red bottle with screw cap and the bottle with dark brown color.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the medium plastic bottle.",
+    "Pick up both the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grab the bottle with red cap using an arm and the medium plastic bottle with the other arm.",
+    "Grab the red bottle with white bottom text using one arm and the smooth brown bottle using the other.",
+    "One arm grabs the yellow text bottle; the other arm grabs the rounded bottle with printed details.",
+    "Hold the plastic bottle with one arm, hold the plastic bottle with printed label with the other.",
+    "Secure the bottle with red cap, then secure the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with screw cap and the other for the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the bottle with brown body and white top.",
+    "Lift both bottles, the bottle with red cap with one arm, the bottle with brown body and white top with the other.",
+    "Secure the red bottle with curved grooves and the medium bottle with smooth texture in succession.",
+    "Catch the red bottle with white bottom text in one arm and the medium bottle with smooth texture in the other arm.",
+    "Hold the handheld plastic bottle in one arm, the medium plastic bottle in the other.",
+    "Grasp the red bottle with screw cap first, then take the plastic bottle with printed label.",
+    "Hold onto the yellow text bottle, then pick up the smooth brown bottle.",
+    "Lift the yellow text bottle and the smooth brown bottle with separate arms.",
+    "Pick up both the red bottle with curved grooves and the bottle with white cap together.",
+    "Grab the red bottle, pick up the cylindrical bottle with narrow neck.",
+    "Collect the plastic bottle, then pick up the smooth brown bottle.",
+    "Catch both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Use both arms to lift the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Hold the plastic bottle with bright red color in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Pick up the red bottle with curved grooves, then pick up the bottle with white cap.",
+    "Use each arm to lift the plastic bottle and the bottle with dark brown color.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Catch the red bottle with white bottom text, then catch the handheld brown bottle with white lid.",
+    "Take hold of the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Pick both the yellow text bottle and the smooth brown bottle one after another.",
+    "Use one arm for the medium-size plastic bottle, another for the handheld brown bottle with white lid.",
+    "Catch the red bottle with screw cap, then take hold of the plastic bottle for liquids.",
+    "Use one arm for the plastic bottle, the other for the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with white bottom text, continue and pick up the plastic bottle with printed label.",
+    "Assign one arm to each of the bottle with red cap and the medium bottle with smooth texture.",
+    "Lift both the red bottle with screw cap and the cylindrical bottle with narrow neck simultaneously.",
+    "Grab the plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Hold both the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "With two arms, catch both the red bottle with screw cap and the smooth brown bottle.",
+    "Catch the red bottle with screw cap with one arm, the bottle with brown body and white top with another arm.",
+    "Grab the red bottle with narrow neck and pick up the handheld brown bottle with white lid.",
+    "Grab and hold the handheld plastic bottle, then grab the bottle with brown body and white top.",
+    "Let each arm grab either the yellow text bottle or the handheld brown bottle with white lid.",
+    "Lift the red bottle with narrow neck and also take hold of the rounded bottle with printed details.",
+    "Grab the bottle with red cap with one arm, the bottle with brown body and white top with the other.",
+    "Hold onto the red bottle with screw cap and then get the medium bottle with smooth texture.",
+    "Catch the yellow text bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Catch the plastic bottle with bright red color, grab the rounded bottle with printed details next.",
+    "Secure both the red bottle with white bottom text and the white-capped brown cylindrical bottle quickly.",
+    "Pick up the bottle with red cap and then pick up the rounded bottle with printed details.",
+    "Assign one arm to catch the bottle with red cap, one for the plastic bottle with printed label.",
+    "Use both arms to pick up the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the yellow text bottle, then the plastic bottle with printed label.",
+    "Pick up both the red bottle with narrow neck and the bottle with dark brown color.",
+    "Grab the yellow text bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Grab the yellow text bottle using one arm and the plastic bottle for liquids using the other.",
+    "One arm grabs the red bottle; the other arm grabs the bottle with white cap.",
+    "Hold the yellow text bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Secure the handheld plastic bottle, then secure the plastic bottle with printed label.",
+    "Use one arm for the handheld plastic bottle and the other for the plastic bottle for liquids.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the smooth brown bottle.",
+    "Lift both bottles, the yellow text bottle with one arm, the plastic bottle with printed label with the other.",
+    "Secure the red bottle and the bottle with white cap in succession.",
+    "Catch the medium-size plastic bottle in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Hold the red bottle in one arm, the plastic bottle for liquids in the other.",
+    "Grasp the red bottle with curved grooves first, then take the handheld brown bottle with white lid.",
+    "Hold onto the red bottle with narrow neck, then pick up the medium plastic bottle.",
+    "Lift the red bottle with screw cap and the white-capped brown cylindrical bottle with separate arms.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck together.",
+    "Grab the red bottle with curved grooves, pick up the white-capped brown cylindrical bottle.",
+    "Collect the handheld plastic bottle, then pick up the smooth brown bottle.",
+    "Catch both the red bottle with curved grooves and the smooth brown bottle quickly.",
+    "Use both arms to lift the plastic bottle and the plastic bottle for liquids.",
+    "Hold the medium-size plastic bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Pick up the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Use each arm to lift the red bottle and the bottle with dark brown color.",
+    "Use both arms to pick up the red bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with white bottom text, then catch the rounded bottle with printed details.",
+    "Take hold of the medium-size plastic bottle and the medium plastic bottle.",
+    "Pick both the bottle with red cap and the plastic bottle with printed label one after another.",
+    "Use one arm for the bottle with red cap, another for the handheld brown bottle with white lid.",
+    "Catch the red bottle with narrow neck, then take hold of the plastic bottle for liquids.",
+    "Use one arm for the plastic bottle with bright red color, the other for the cylindrical bottle with narrow neck.",
+    "Lift the handheld plastic bottle, continue and pick up the medium plastic bottle.",
+    "Assign one arm to each of the red bottle and the smooth brown bottle.",
+    "Lift both the red bottle with screw cap and the medium plastic bottle simultaneously.",
+    "Grab the handheld plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Hold both the medium-size plastic bottle and the bottle with brown body and white top."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode44.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99c16fcbcf07d9bcce217bbb0b4eb1cab67bbfe
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle for liquids.",
+    "Catch both the medium-size plastic bottle and the bottle with dark brown color quickly.",
+    "Grab and hold the yellow text bottle, then grab the medium bottle with smooth texture.",
+    "Lift both the handheld plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with dark brown color.",
+    "Catch the red bottle, then catch the handheld brown bottle with white lid.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with dark brown color.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the medium plastic bottle.",
+    "Secure the yellow text bottle, then secure the medium plastic bottle.",
+    "Use one arm for the medium-size plastic bottle and the other for the bottle with dark brown color.",
+    "Grab the red bottle with curved grooves with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Grab the red bottle with screw cap with one arm, the smooth brown bottle with the other.",
+    "Assign one arm to each of the bottle with red cap and the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Grab the red bottle with curved grooves, pick up the plastic bottle with printed label.",
+    "With two arms, catch both the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Catch the medium-size plastic bottle, grab the medium bottle with smooth texture next.",
+    "Grasp the red bottle with narrow neck first, then take the smooth brown bottle.",
+    "Grab the smooth red cylindrical bottle and pick up the medium bottle with smooth texture.",
+    "Use one arm for the handheld plastic bottle, the other for the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with white bottom text, then the medium plastic bottle.",
+    "Pick up both the red bottle and the handheld brown bottle with white lid.",
+    "Secure the red bottle with narrow neck and the medium bottle with smooth texture in succession.",
+    "Lift the plastic bottle, continue and pick up the handheld brown bottle with white lid.",
+    "Catch the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Hold onto the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "Pick up the red bottle with curved grooves, then pick up the white-capped brown cylindrical bottle.",
+    "Secure both the yellow text bottle and the rounded bottle with printed details quickly.",
+    "Lift the red bottle with curved grooves and the rounded bottle with printed details with separate arms.",
+    "Lift both bottles, the red bottle with one arm, the bottle with brown body and white top with the other.",
+    "Catch the red bottle with curved grooves, then grab the handheld brown bottle with white lid too.",
+    "Collect the yellow text bottle, then pick up the handheld brown bottle with white lid.",
+    "Let each arm grab either the red bottle with curved grooves or the bottle with white cap.",
+    "Grab the plastic bottle with bright red color using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Take hold of the plastic bottle and the medium plastic bottle.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Pick up both the medium-size plastic bottle and the plastic bottle for liquids together.",
+    "Hold the red bottle with narrow neck in one arm, catch the smooth brown bottle with the other arm.",
+    "Catch the yellow text bottle, then take hold of the plastic bottle with printed label.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with white cap.",
+    "Use one arm for the yellow text bottle, another for the bottle with brown body and white top.",
+    "Hold both the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Pick up the medium-size plastic bottle and then pick up the plastic bottle with printed label.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the bottle with dark brown color.",
+    "Hold the red bottle in one arm, the bottle with white cap in the other.",
+    "Pick both the red bottle with curved grooves and the white-capped brown cylindrical bottle one after another.",
+    "Catch the plastic bottle with bright red color in one arm and the plastic bottle with printed label in the other arm.",
+    "Hold onto the medium-size plastic bottle and then get the medium bottle with smooth texture.",
+    "Lift the plastic bottle with bright red color and also take hold of the white-capped brown cylindrical bottle.",
+    "Catch both the red bottle with white bottom text and the cylindrical bottle with narrow neck quickly.",
+    "Grab and hold the plastic bottle with bright red color, then grab the plastic bottle with printed label.",
+    "Lift both the red bottle and the medium plastic bottle simultaneously.",
+    "Use both arms to lift the plastic bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with narrow neck, then catch the white-capped brown cylindrical bottle.",
+    "Use each arm to lift the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the plastic bottle, one for the rounded bottle with printed details.",
+    "Secure the plastic bottle with bright red color, then secure the rounded bottle with printed details.",
+    "Use one arm for the handheld plastic bottle and the other for the smooth brown bottle.",
+    "Grab the yellow text bottle with one arm, the plastic bottle with printed label with the other.",
+    "Grab the red bottle with one arm, the plastic bottle with printed label with the other.",
+    "Assign one arm to each of the plastic bottle and the smooth brown bottle.",
+    "Grab the red bottle with screw cap using an arm and the bottle with dark brown color with the other arm.",
+    "Use both arms to pick up the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle with bright red color, pick up the bottle with dark brown color.",
+    "With two arms, catch both the red bottle with curved grooves and the bottle with dark brown color.",
+    "Catch the red bottle with curved grooves, grab the plastic bottle for liquids next.",
+    "Grasp the yellow text bottle first, then take the bottle with dark brown color.",
+    "Grab the bottle with red cap and pick up the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the handheld plastic bottle, then the bottle with white cap.",
+    "Pick up both the red bottle and the bottle with brown body and white top.",
+    "Secure the smooth red cylindrical bottle and the handheld brown bottle with white lid in succession.",
+    "Lift the red bottle with narrow neck, continue and pick up the handheld brown bottle with white lid.",
+    "Catch the smooth red cylindrical bottle with one arm, the medium plastic bottle with another arm.",
+    "Hold onto the bottle with red cap, then pick up the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "Secure both the medium-size plastic bottle and the plastic bottle with printed label quickly.",
+    "Lift the bottle with red cap and the plastic bottle with printed label with separate arms.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the plastic bottle for liquids with the other.",
+    "Catch the red bottle, then grab the handheld brown bottle with white lid too.",
+    "Collect the red bottle with white bottom text, then pick up the handheld brown bottle with white lid.",
+    "Let each arm grab either the yellow text bottle or the cylindrical bottle with narrow neck.",
+    "Grab the yellow text bottle using one arm and the bottle with brown body and white top using the other.",
+    "Take hold of the red bottle and the plastic bottle with printed label.",
+    "Hold the medium-size plastic bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "Use both arms to pick up the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Pick up both the red bottle with white bottom text and the bottle with brown body and white top together.",
+    "Hold the handheld plastic bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Catch the red bottle with screw cap, then take hold of the plastic bottle for liquids.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the bottle with dark brown color.",
+    "Use one arm for the smooth red cylindrical bottle, another for the plastic bottle with printed label.",
+    "Hold both the red bottle and the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with curved grooves and then pick up the plastic bottle for liquids.",
+    "One arm grabs the plastic bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Hold the red bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Pick both the bottle with red cap and the medium plastic bottle one after another.",
+    "Catch the yellow text bottle in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Hold onto the medium-size plastic bottle and then get the medium bottle with smooth texture."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode45.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2923e99351ad72d16f575ef259e565b4c4ecd03
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the bottle with dark brown color.",
+    "Take hold of the handheld plastic bottle and the plastic bottle with printed label.",
+    "Catch the red bottle with curved grooves, grab the plastic bottle with printed label next.",
+    "Grab the bottle with red cap with one arm, the plastic bottle with printed label with the other.",
+    "Use one arm for the yellow text bottle, the other for the medium bottle with smooth texture.",
+    "Pick up both the red bottle with curved grooves and the plastic bottle with printed label together.",
+    "Secure both the red bottle with screw cap and the bottle with brown body and white top quickly.",
+    "With both arms, pick up the red bottle, then the bottle with brown body and white top.",
+    "Lift the medium-size plastic bottle and the cylindrical bottle with narrow neck with separate arms.",
+    "Grab the handheld plastic bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Use both arms to lift the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with another arm.",
+    "Pick up the medium-size plastic bottle, then pick up the plastic bottle for liquids.",
+    "Secure the bottle with red cap and the bottle with dark brown color in succession.",
+    "Pick up both the handheld plastic bottle and the smooth brown bottle.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the white-capped brown cylindrical bottle.",
+    "Lift both the red bottle with curved grooves and the plastic bottle with printed label simultaneously.",
+    "Use both arms to pick up the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with one arm, the smooth brown bottle with the other.",
+    "Grab the red bottle with screw cap, pick up the bottle with white cap.",
+    "Pick up the medium-size plastic bottle and then pick up the bottle with brown body and white top.",
+    "Collect the handheld plastic bottle, then pick up the rounded bottle with printed details.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium plastic bottle.",
+    "Assign one arm to each of the plastic bottle and the bottle with white cap.",
+    "Hold onto the plastic bottle, then pick up the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves and pick up the bottle with white cap.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the medium bottle with smooth texture.",
+    "Hold the red bottle with white bottom text in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Grab the handheld plastic bottle using one arm and the plastic bottle with printed label using the other.",
+    "Grasp the yellow text bottle first, then take the medium bottle with smooth texture.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the smooth brown bottle with the other.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the plastic bottle with printed label.",
+    "Use each arm to lift the plastic bottle and the plastic bottle for liquids.",
+    "Catch both the handheld plastic bottle and the smooth brown bottle quickly.",
+    "Use one arm for the bottle with red cap and the other for the medium plastic bottle.",
+    "Use one arm for the plastic bottle with bright red color, another for the bottle with brown body and white top.",
+    "Lift the plastic bottle and also take hold of the smooth brown bottle.",
+    "Hold onto the medium-size plastic bottle and then get the plastic bottle for liquids.",
+    "Catch the plastic bottle with bright red color, then catch the handheld brown bottle with white lid.",
+    "Hold both the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Pick both the red bottle and the medium bottle with smooth texture one after another.",
+    "Hold the plastic bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Let each arm grab either the red bottle with curved grooves or the cylindrical bottle with narrow neck.",
+    "Catch the red bottle, then take hold of the bottle with white cap.",
+    "Secure the red bottle with narrow neck, then secure the plastic bottle for liquids.",
+    "Catch the red bottle with white bottom text, then grab the plastic bottle for liquids too.",
+    "Use both arms to pick up the plastic bottle and the bottle with dark brown color.",
+    "Hold the plastic bottle with bright red color with one arm, hold the plastic bottle for liquids with the other.",
+    "Catch the handheld plastic bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the handheld brown bottle with white lid.",
+    "Take hold of the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Catch the medium-size plastic bottle, grab the plastic bottle for liquids next.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Use one arm for the red bottle with white bottom text, the other for the bottle with dark brown color.",
+    "Pick up both the red bottle with curved grooves and the bottle with dark brown color together.",
+    "Secure both the red bottle and the medium bottle with smooth texture quickly.",
+    "With both arms, pick up the plastic bottle, then the handheld brown bottle with white lid.",
+    "Lift the red bottle with screw cap and the plastic bottle for liquids with separate arms.",
+    "Grab the bottle with red cap using an arm and the bottle with brown body and white top with the other arm.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with brown body and white top.",
+    "Catch the handheld plastic bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Pick up the red bottle with white bottom text, then pick up the bottle with white cap.",
+    "Secure the plastic bottle and the medium bottle with smooth texture in succession.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the medium plastic bottle.",
+    "Lift both the plastic bottle with bright red color and the medium bottle with smooth texture simultaneously.",
+    "Use both arms to pick up the bottle with red cap and the bottle with dark brown color.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle for liquids with the other.",
+    "Grab the bottle with red cap, pick up the plastic bottle for liquids.",
+    "Pick up the plastic bottle and then pick up the bottle with dark brown color.",
+    "Collect the red bottle with curved grooves, then pick up the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle with white bottom text, then grab the handheld brown bottle with white lid.",
+    "Assign one arm to each of the medium-size plastic bottle and the bottle with dark brown color.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the rounded bottle with printed details.",
+    "Grab the smooth red cylindrical bottle and pick up the plastic bottle for liquids.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the medium plastic bottle.",
+    "Hold the bottle with red cap in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Grab the bottle with red cap using one arm and the plastic bottle for liquids using the other.",
+    "Grasp the red bottle with narrow neck first, then take the plastic bottle with printed label.",
+    "With two arms, catch both the bottle with red cap and the medium plastic bottle.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the plastic bottle with printed label with the other.",
+    "Lift the red bottle with narrow neck, continue and pick up the smooth brown bottle.",
+    "Use each arm to lift the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Catch both the plastic bottle and the medium bottle with smooth texture quickly.",
+    "Use one arm for the red bottle with narrow neck and the other for the bottle with white cap.",
+    "Use one arm for the red bottle, another for the bottle with white cap.",
+    "Lift the handheld plastic bottle and also take hold of the bottle with dark brown color.",
+    "Hold onto the plastic bottle with bright red color and then get the rounded bottle with printed details.",
+    "Catch the handheld plastic bottle, then catch the rounded bottle with printed details.",
+    "Hold both the bottle with red cap and the bottle with brown body and white top.",
+    "Pick both the yellow text bottle and the smooth brown bottle one after another.",
+    "Hold the yellow text bottle in one arm, the medium plastic bottle in the other.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with brown body and white top.",
+    "Catch the yellow text bottle, then take hold of the white-capped brown cylindrical bottle.",
+    "Secure the handheld plastic bottle, then secure the bottle with white cap.",
+    "Catch the handheld plastic bottle, then grab the handheld brown bottle with white lid too.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with white cap with the other.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with white cap in the other arm."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode46.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7f3ad71a469b35a9dfca1e36d914f099661d32f
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the plastic bottle and the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, then take hold of the plastic bottle with printed label.",
+    "Secure the smooth red cylindrical bottle and the handheld brown bottle with white lid in succession.",
+    "Assign one arm to catch the red bottle with screw cap, one for the smooth brown bottle.",
+    "Pick up both the handheld plastic bottle and the medium bottle with smooth texture together.",
+    "Hold onto the plastic bottle with bright red color, then pick up the bottle with brown body and white top.",
+    "Collect the red bottle, then pick up the medium plastic bottle.",
+    "Grab the red bottle with white bottom text with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Pick up the plastic bottle and then pick up the smooth brown bottle.",
+    "Grab the smooth red cylindrical bottle, pick up the plastic bottle with printed label.",
+    "Pick both the handheld plastic bottle and the plastic bottle with printed label one after another.",
+    "Assign one arm to each of the medium-size plastic bottle and the smooth brown bottle.",
+    "Grab the medium-size plastic bottle using an arm and the medium bottle with smooth texture with the other arm.",
+    "Hold onto the plastic bottle with bright red color and then get the handheld brown bottle with white lid.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Catch the smooth red cylindrical bottle, then grab the handheld brown bottle with white lid too.",
+    "Catch the red bottle with narrow neck, grab the bottle with brown body and white top next.",
+    "Use one arm for the red bottle and the other for the plastic bottle with printed label.",
+    "Grab the red bottle with one arm, the plastic bottle for liquids with the other.",
+    "Catch the plastic bottle, then catch the handheld brown bottle with white lid.",
+    "Each arm should pick up one: the yellow text bottle, then the bottle with brown body and white top.",
+    "Hold both the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the plastic bottle with one arm, the smooth brown bottle with the other.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the handheld plastic bottle or the plastic bottle with printed label.",
+    "Catch the red bottle with curved grooves in one arm and the rounded bottle with printed details in the other arm.",
+    "With two arms, catch both the medium-size plastic bottle and the plastic bottle with printed label.",
+    "Grab and hold the medium-size plastic bottle, then grab the bottle with brown body and white top.",
+    "Lift the red bottle with curved grooves and the medium bottle with smooth texture with separate arms.",
+    "Pick up the red bottle with curved grooves, then pick up the plastic bottle for liquids.",
+    "Lift the red bottle with white bottom text and also take hold of the medium plastic bottle.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the bottle with dark brown color.",
+    "Catch both the red bottle with curved grooves and the plastic bottle with printed label quickly.",
+    "Pick up both the yellow text bottle and the smooth brown bottle.",
+    "Hold the red bottle with screw cap in one arm, the plastic bottle with printed label in the other.",
+    "Hold the red bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Grab the red bottle with white bottom text and pick up the medium bottle with smooth texture.",
+    "Use both arms to pick up the bottle with red cap and the plastic bottle for liquids.",
+    "Use both arms to lift the red bottle with narrow neck and the bottle with white cap.",
+    "Secure both the bottle with red cap and the medium plastic bottle quickly.",
+    "Use one arm for the bottle with red cap, another for the white-capped brown cylindrical bottle.",
+    "Catch the plastic bottle with bright red color with one arm, the handheld brown bottle with white lid with another arm.",
+    "Use one arm for the red bottle with screw cap, the other for the bottle with white cap.",
+    "Use each arm to lift the red bottle and the plastic bottle with printed label.",
+    "Take hold of the red bottle with screw cap and the bottle with white cap.",
+    "Secure the smooth red cylindrical bottle, then secure the plastic bottle for liquids.",
+    "Lift both the plastic bottle and the medium plastic bottle simultaneously.",
+    "Grasp the handheld plastic bottle first, then take the handheld brown bottle with white lid.",
+    "With both arms, pick up the bottle with red cap, then the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with curved grooves using one arm and the plastic bottle for liquids using the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the smooth brown bottle.",
+    "Catch the bottle with red cap, then take hold of the plastic bottle with printed label.",
+    "Secure the medium-size plastic bottle and the plastic bottle for liquids in succession.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the smooth brown bottle.",
+    "Pick up both the bottle with red cap and the medium bottle with smooth texture together.",
+    "Hold onto the red bottle with curved grooves, then pick up the plastic bottle for liquids.",
+    "Collect the bottle with red cap, then pick up the smooth brown bottle.",
+    "Grab the red bottle with one arm, the bottle with brown body and white top with the other.",
+    "Pick up the red bottle with screw cap and then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle for liquids.",
+    "Pick both the red bottle with white bottom text and the handheld brown bottle with white lid one after another.",
+    "Assign one arm to each of the yellow text bottle and the rounded bottle with printed details.",
+    "Grab the medium-size plastic bottle using an arm and the medium plastic bottle with the other arm.",
+    "Hold onto the red bottle and then get the bottle with dark brown color.",
+    "Hold the medium-size plastic bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "Catch the medium-size plastic bottle, then grab the plastic bottle with printed label too.",
+    "Catch the bottle with red cap, grab the plastic bottle for liquids next.",
+    "Use one arm for the bottle with red cap and the other for the bottle with brown body and white top.",
+    "Grab the plastic bottle with bright red color with one arm, the plastic bottle for liquids with the other.",
+    "Catch the red bottle with white bottom text, then catch the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the red bottle, then the bottle with dark brown color.",
+    "Hold both the yellow text bottle and the bottle with white cap.",
+    "Lift both bottles, the plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the rounded bottle with printed details.",
+    "Let each arm grab either the red bottle with curved grooves or the bottle with white cap.",
+    "Catch the red bottle with curved grooves in one arm and the bottle with brown body and white top in the other arm.",
+    "With two arms, catch both the red bottle and the bottle with white cap.",
+    "Grab and hold the yellow text bottle, then grab the bottle with dark brown color.",
+    "Lift the medium-size plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Pick up the medium-size plastic bottle, then pick up the bottle with brown body and white top.",
+    "Lift the plastic bottle with bright red color and also take hold of the plastic bottle for liquids.",
+    "Lift the plastic bottle, continue and pick up the bottle with white cap.",
+    "Catch both the plastic bottle with bright red color and the bottle with white cap quickly.",
+    "Pick up both the yellow text bottle and the bottle with white cap.",
+    "Hold the smooth red cylindrical bottle in one arm, the plastic bottle with printed label in the other.",
+    "Hold the plastic bottle with bright red color with one arm, hold the bottle with brown body and white top with the other.",
+    "Grab the handheld plastic bottle and pick up the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle with white bottom text and the smooth brown bottle.",
+    "Use both arms to lift the bottle with red cap and the handheld brown bottle with white lid.",
+    "Secure both the yellow text bottle and the plastic bottle with printed label quickly.",
+    "Use one arm for the red bottle with screw cap, another for the medium plastic bottle.",
+    "Catch the plastic bottle with bright red color with one arm, the bottle with brown body and white top with another arm.",
+    "Use one arm for the medium-size plastic bottle, the other for the bottle with brown body and white top.",
+    "Use each arm to lift the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Take hold of the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Secure the red bottle with narrow neck, then secure the bottle with white cap.",
+    "Lift both the plastic bottle with bright red color and the medium bottle with smooth texture simultaneously.",
+    "Grasp the bottle with red cap first, then take the bottle with white cap.",
+    "With both arms, pick up the medium-size plastic bottle, then the rounded bottle with printed details.",
+    "Grab the plastic bottle using one arm and the medium bottle with smooth texture using the other."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode47.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01080adc3efb074613a34240895795b5c799b97
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up both the red bottle with screw cap and the plastic bottle with printed label.",
+    "Lift the red bottle with white bottom text and also take hold of the bottle with dark brown color.",
+    "Pick both the plastic bottle with bright red color and the bottle with dark brown color one after another.",
+    "Catch the smooth red cylindrical bottle, then grab the bottle with brown body and white top too.",
+    "Catch the red bottle with curved grooves in one arm and the medium plastic bottle in the other arm.",
+    "Pick up the medium-size plastic bottle and then pick up the bottle with white cap.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Use both arms to pick up the bottle with red cap and the bottle with brown body and white top.",
+    "Grab the yellow text bottle and pick up the bottle with white cap.",
+    "Let each arm grab either the red bottle with curved grooves or the bottle with brown body and white top.",
+    "Grab the bottle with red cap with one arm, the rounded bottle with printed details with the other.",
+    "Grab the yellow text bottle, pick up the plastic bottle for liquids.",
+    "Pick up both the red bottle with screw cap and the bottle with brown body and white top together.",
+    "Hold the bottle with red cap in one arm, catch the bottle with dark brown color with the other arm.",
+    "Collect the red bottle with narrow neck, then pick up the handheld brown bottle with white lid.",
+    "Hold the red bottle with screw cap in one arm, the plastic bottle with printed label in the other.",
+    "Use both arms to lift the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Lift the smooth red cylindrical bottle and the rounded bottle with printed details with separate arms.",
+    "Take hold of the handheld plastic bottle and the white-capped brown cylindrical bottle.",
+    "Secure the handheld plastic bottle and the cylindrical bottle with narrow neck in succession.",
+    "Catch the plastic bottle with bright red color, then take hold of the medium plastic bottle.",
+    "Use one arm for the red bottle with curved grooves, another for the plastic bottle with printed label.",
+    "Use each arm to lift the red bottle with screw cap and the bottle with brown body and white top.",
+    "Catch the plastic bottle with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Assign one arm to catch the red bottle with screw cap, one for the medium plastic bottle.",
+    "Lift both the red bottle and the plastic bottle with printed label simultaneously.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the plastic bottle with printed label.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the bottle with dark brown color.",
+    "Lift the plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "Pick up the red bottle with white bottom text, then pick up the rounded bottle with printed details.",
+    "Hold onto the plastic bottle, then pick up the medium bottle with smooth texture.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with white cap with the other.",
+    "Catch the plastic bottle with bright red color, then catch the bottle with brown body and white top.",
+    "With both arms, pick up the red bottle with white bottom text, then the plastic bottle for liquids.",
+    "Secure both the yellow text bottle and the plastic bottle with printed label quickly.",
+    "Hold both the handheld plastic bottle and the bottle with brown body and white top.",
+    "Use both arms to pick up the plastic bottle and the handheld brown bottle with white lid.",
+    "Catch both the red bottle with screw cap and the bottle with brown body and white top quickly.",
+    "Lift both bottles, the yellow text bottle with one arm, the medium plastic bottle with the other.",
+    "Grasp the bottle with red cap first, then take the bottle with white cap.",
+    "Use one arm for the yellow text bottle and the other for the smooth brown bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the bottle with brown body and white top.",
+    "Grab and hold the red bottle with screw cap, then grab the bottle with dark brown color.",
+    "Secure the red bottle with narrow neck, then secure the white-capped brown cylindrical bottle.",
+    "Grab the yellow text bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Hold onto the yellow text bottle and then get the smooth brown bottle.",
+    "Catch the red bottle with screw cap, grab the bottle with white cap next.",
+    "Grab the red bottle with curved grooves with one arm, the bottle with brown body and white top with the other.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Assign one arm to each of the red bottle with narrow neck and the smooth brown bottle.",
+    "Pick up both the bottle with red cap and the medium plastic bottle.",
+    "Lift the red bottle with curved grooves and also take hold of the cylindrical bottle with narrow neck.",
+    "Pick both the red bottle and the medium plastic bottle one after another.",
+    "Catch the smooth red cylindrical bottle, then grab the plastic bottle for liquids too.",
+    "Catch the yellow text bottle in one arm and the smooth brown bottle in the other arm.",
+    "Pick up the bottle with red cap and then pick up the bottle with white cap.",
+    "Grab the yellow text bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Use both arms to pick up the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Grab the red bottle with white bottom text and pick up the medium plastic bottle.",
+    "Let each arm grab either the yellow text bottle or the medium bottle with smooth texture.",
+    "Grab the bottle with red cap with one arm, the plastic bottle for liquids with the other.",
+    "Grab the red bottle with screw cap, pick up the smooth brown bottle.",
+    "Pick up both the red bottle with narrow neck and the plastic bottle for liquids together.",
+    "Hold the red bottle with screw cap in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Collect the bottle with red cap, then pick up the plastic bottle with printed label.",
+    "Hold the medium-size plastic bottle in one arm, the smooth brown bottle in the other.",
+    "Use both arms to lift the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Lift the red bottle with narrow neck and the bottle with white cap with separate arms.",
+    "Take hold of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Secure the red bottle with narrow neck and the handheld brown bottle with white lid in succession.",
+    "Catch the plastic bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with white bottom text, another for the handheld brown bottle with white lid.",
+    "Use each arm to lift the red bottle with curved grooves and the bottle with white cap.",
+    "Catch the red bottle with screw cap with one arm, the handheld brown bottle with white lid with another arm.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the rounded bottle with printed details.",
+    "Lift both the red bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with white cap.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the bottle with white cap.",
+    "Lift the red bottle, continue and pick up the rounded bottle with printed details.",
+    "Pick up the yellow text bottle, then pick up the bottle with white cap.",
+    "Hold onto the plastic bottle, then pick up the bottle with white cap.",
+    "Hold the red bottle with screw cap with one arm, hold the plastic bottle for liquids with the other.",
+    "Catch the plastic bottle, then catch the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the plastic bottle with bright red color, then the bottle with brown body and white top.",
+    "Secure both the medium-size plastic bottle and the medium bottle with smooth texture quickly.",
+    "Hold both the red bottle and the bottle with brown body and white top.",
+    "Use both arms to pick up the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Catch both the yellow text bottle and the rounded bottle with printed details quickly.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the handheld brown bottle with white lid with the other.",
+    "Grasp the handheld plastic bottle first, then take the bottle with dark brown color.",
+    "Use one arm for the bottle with red cap and the other for the plastic bottle with printed label.",
+    "Use one arm for the red bottle with screw cap, the other for the plastic bottle with printed label.",
+    "Grab and hold the red bottle with curved grooves, then grab the medium bottle with smooth texture.",
+    "Secure the smooth red cylindrical bottle, then secure the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color using one arm and the bottle with dark brown color using the other.",
+    "Hold onto the red bottle with narrow neck and then get the bottle with dark brown color.",
+    "Catch the red bottle with curved grooves, grab the cylindrical bottle with narrow neck next.",
+    "Grab the red bottle with one arm, the rounded bottle with printed details with the other.",
+    "With two arms, catch both the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the red bottle with screw cap and the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode48.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..f356779c61d5fb0e61eb85783fdc5685beb54778
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with red cap with one arm, the medium bottle with smooth texture with the other.",
+    "Pick up the handheld plastic bottle, then pick up the bottle with white cap.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Hold both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Lift the handheld plastic bottle and the rounded bottle with printed details with separate arms.",
+    "Grasp the red bottle with screw cap first, then take the bottle with white cap.",
+    "Pick up both the yellow text bottle and the bottle with dark brown color together.",
+    "Catch the plastic bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with white cap.",
+    "Use one arm for the red bottle with white bottom text, the other for the bottle with dark brown color.",
+    "Grab and hold the plastic bottle with bright red color, then grab the cylindrical bottle with narrow neck.",
+    "Grab the handheld plastic bottle and pick up the medium bottle with smooth texture.",
+    "Lift both bottles, the bottle with red cap with one arm, the medium plastic bottle with the other.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Pick up the plastic bottle with bright red color and then pick up the handheld brown bottle with white lid.",
+    "Collect the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Each arm should pick up one: the bottle with red cap, then the smooth brown bottle.",
+    "Use one arm for the red bottle with screw cap, another for the plastic bottle for liquids.",
+    "Grab the yellow text bottle with one arm, the bottle with dark brown color with the other.",
+    "Lift the red bottle with narrow neck and also take hold of the medium plastic bottle.",
+    "Catch both the red bottle with white bottom text and the plastic bottle with printed label quickly.",
+    "Catch the yellow text bottle, then catch the plastic bottle for liquids.",
+    "Use one arm for the red bottle with screw cap and the other for the rounded bottle with printed details.",
+    "Grab the red bottle using one arm and the rounded bottle with printed details using the other.",
+    "Use both arms to pick up the red bottle with screw cap and the plastic bottle with printed label.",
+    "Secure both the red bottle with screw cap and the white-capped brown cylindrical bottle quickly.",
+    "Catch the smooth red cylindrical bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Take hold of the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Lift the plastic bottle with bright red color, continue and pick up the cylindrical bottle with narrow neck.",
+    "Lift both the plastic bottle and the bottle with dark brown color simultaneously.",
+    "Catch the yellow text bottle, then take hold of the bottle with dark brown color.",
+    "Hold the bottle with red cap with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Catch the plastic bottle, then grab the plastic bottle with printed label too.",
+    "Pick both the yellow text bottle and the smooth brown bottle one after another.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the medium bottle with smooth texture.",
+    "Grab the red bottle with narrow neck using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Assign one arm to each of the bottle with red cap and the rounded bottle with printed details.",
+    "Hold onto the red bottle with narrow neck and then get the plastic bottle with printed label.",
+    "With two arms, catch both the yellow text bottle and the plastic bottle with printed label.",
+    "Secure the red bottle with white bottom text, then secure the medium plastic bottle.",
+    "Use each arm to lift the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "With both arms, pick up the red bottle with narrow neck, then the rounded bottle with printed details.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Hold the plastic bottle with bright red color in one arm, the rounded bottle with printed details in the other.",
+    "Grab the red bottle with screw cap, pick up the rounded bottle with printed details.",
+    "Hold onto the red bottle, then pick up the plastic bottle for liquids.",
+    "Catch the red bottle, grab the bottle with white cap next.",
+    "Secure the red bottle with white bottom text and the smooth brown bottle in succession.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Pick up both the red bottle and the bottle with dark brown color.",
+    "Grab the plastic bottle with bright red color with one arm, the plastic bottle with printed label with the other.",
+    "Pick up the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the medium plastic bottle.",
+    "Hold both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Lift the plastic bottle and the medium plastic bottle with separate arms.",
+    "Grasp the plastic bottle with bright red color first, then take the cylindrical bottle with narrow neck.",
+    "Pick up both the bottle with red cap and the white-capped brown cylindrical bottle together.",
+    "Catch the red bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Let each arm grab either the medium-size plastic bottle or the bottle with white cap.",
+    "Use one arm for the plastic bottle, the other for the bottle with brown body and white top.",
+    "Grab and hold the red bottle with curved grooves, then grab the medium plastic bottle.",
+    "Grab the smooth red cylindrical bottle and pick up the bottle with brown body and white top.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the medium plastic bottle with the other.",
+    "Hold the plastic bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Pick up the smooth red cylindrical bottle and then pick up the smooth brown bottle.",
+    "Collect the red bottle with white bottom text, then pick up the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with screw cap, then the white-capped brown cylindrical bottle.",
+    "Use one arm for the smooth red cylindrical bottle, another for the medium bottle with smooth texture.",
+    "Grab the smooth red cylindrical bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Lift the plastic bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Catch both the red bottle with curved grooves and the white-capped brown cylindrical bottle quickly.",
+    "Catch the red bottle, then catch the medium plastic bottle.",
+    "Use one arm for the plastic bottle and the other for the medium bottle with smooth texture.",
+    "Grab the plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Use both arms to pick up the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Secure both the handheld plastic bottle and the bottle with brown body and white top quickly.",
+    "Catch the plastic bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Take hold of the red bottle with white bottom text and the bottle with dark brown color.",
+    "Lift the red bottle, continue and pick up the rounded bottle with printed details.",
+    "Lift both the medium-size plastic bottle and the plastic bottle with printed label simultaneously.",
+    "Catch the yellow text bottle, then take hold of the plastic bottle with printed label.",
+    "Hold the yellow text bottle with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Catch the smooth red cylindrical bottle, then grab the medium plastic bottle too.",
+    "Pick both the medium-size plastic bottle and the cylindrical bottle with narrow neck one after another.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle using an arm and the plastic bottle with printed label with the other arm.",
+    "Assign one arm to each of the red bottle with screw cap and the smooth brown bottle.",
+    "Hold onto the plastic bottle and then get the smooth brown bottle.",
+    "With two arms, catch both the red bottle and the medium bottle with smooth texture.",
+    "Secure the medium-size plastic bottle, then secure the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "With both arms, pick up the plastic bottle with bright red color, then the medium plastic bottle.",
+    "Use both arms to lift the bottle with red cap and the handheld brown bottle with white lid.",
+    "Hold the red bottle in one arm, the bottle with white cap in the other.",
+    "Grab the red bottle with curved grooves, pick up the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap, then pick up the white-capped brown cylindrical bottle.",
+    "Catch the handheld plastic bottle, grab the smooth brown bottle next.",
+    "Secure the red bottle with screw cap and the handheld brown bottle with white lid in succession.",
+    "Use both arms to pick up the bottle with red cap and the medium plastic bottle.",
+    "Pick up both the yellow text bottle and the bottle with white cap."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode49.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..14846551bdb91ea527858db18bcb09f2b1fe6dc0
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Collect the red bottle with narrow neck, then pick up the rounded bottle with printed details.",
+    "Use one arm for the yellow text bottle, another for the bottle with white cap.",
+    "Assign one arm to catch the red bottle, one for the cylindrical bottle with narrow neck.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the bottle with white cap.",
+    "Hold both the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the medium bottle with smooth texture with the other.",
+    "Take hold of the red bottle and the bottle with dark brown color.",
+    "Pick up the smooth red cylindrical bottle and then pick up the handheld brown bottle with white lid.",
+    "Catch the smooth red cylindrical bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Let each arm grab either the bottle with red cap or the bottle with white cap.",
+    "Catch the bottle with red cap, then catch the rounded bottle with printed details.",
+    "Lift the yellow text bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Catch both the medium-size plastic bottle and the plastic bottle for liquids quickly.",
+    "With two arms, catch both the plastic bottle and the smooth brown bottle.",
+    "Grasp the plastic bottle first, then take the bottle with brown body and white top.",
+    "Hold the red bottle with curved grooves with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Hold onto the red bottle with curved grooves, then pick up the white-capped brown cylindrical bottle.",
+    "Grab the yellow text bottle and pick up the white-capped brown cylindrical bottle.",
+    "Lift both the red bottle and the handheld brown bottle with white lid simultaneously.",
+    "Use each arm to lift the yellow text bottle and the rounded bottle with printed details.",
+    "Catch the handheld plastic bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Pick up the smooth red cylindrical bottle, then pick up the bottle with dark brown color.",
+    "With both arms, pick up the handheld plastic bottle, then the rounded bottle with printed details.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Grab and hold the red bottle with curved grooves, then grab the rounded bottle with printed details.",
+    "Hold onto the plastic bottle with bright red color and then get the handheld brown bottle with white lid.",
+    "Use one arm for the bottle with red cap, the other for the medium plastic bottle.",
+    "Catch the plastic bottle with bright red color in one arm and the bottle with dark brown color in the other arm.",
+    "Grab the bottle with red cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Secure the bottle with red cap, then secure the plastic bottle with printed label.",
+    "Pick up both the red bottle and the plastic bottle for liquids.",
+    "Pick up both the plastic bottle and the plastic bottle with printed label together.",
+    "Lift the red bottle with curved grooves and the smooth brown bottle with separate arms.",
+    "Hold the plastic bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with white cap.",
+    "Grab the red bottle with screw cap, pick up the plastic bottle for liquids.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with white cap with the other arm.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the medium plastic bottle.",
+    "Grab the handheld plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Use both arms to lift the red bottle and the smooth brown bottle.",
+    "Catch the red bottle with screw cap, then take hold of the bottle with white cap.",
+    "Secure both the plastic bottle with bright red color and the plastic bottle for liquids quickly.",
+    "Lift the plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, grab the bottle with brown body and white top next.",
+    "Assign one arm to each of the red bottle with white bottom text and the smooth brown bottle.",
+    "Hold the plastic bottle with bright red color in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Pick both the medium-size plastic bottle and the smooth brown bottle one after another.",
+    "Use both arms to pick up the plastic bottle and the white-capped brown cylindrical bottle.",
+    "Secure the bottle with red cap and the rounded bottle with printed details in succession.",
+    "Use one arm for the yellow text bottle and the other for the bottle with dark brown color.",
+    "Collect the bottle with red cap, then pick up the bottle with brown body and white top.",
+    "Use one arm for the red bottle with curved grooves, another for the bottle with white cap.",
+    "Assign one arm to catch the handheld plastic bottle, one for the medium bottle with smooth texture.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the bottle with brown body and white top.",
+    "Hold both the handheld plastic bottle and the smooth brown bottle.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Take hold of the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Pick up the yellow text bottle and then pick up the medium bottle with smooth texture.",
+    "Catch the red bottle with narrow neck with one arm, the rounded bottle with printed details with another arm.",
+    "Let each arm grab either the plastic bottle or the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, then catch the medium plastic bottle.",
+    "Lift the medium-size plastic bottle and also take hold of the plastic bottle for liquids.",
+    "Catch both the medium-size plastic bottle and the bottle with dark brown color quickly.",
+    "With two arms, catch both the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Grasp the red bottle first, then take the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with narrow neck with one arm, hold the bottle with white cap with the other.",
+    "Hold onto the red bottle with white bottom text, then pick up the bottle with brown body and white top.",
+    "Grab the plastic bottle and pick up the rounded bottle with printed details.",
+    "Lift both the yellow text bottle and the handheld brown bottle with white lid simultaneously.",
+    "Use each arm to lift the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Catch the red bottle with narrow neck, then grab the medium plastic bottle too.",
+    "Pick up the yellow text bottle, then pick up the medium bottle with smooth texture.",
+    "With both arms, pick up the red bottle with white bottom text, then the medium bottle with smooth texture.",
+    "Grab the yellow text bottle with one arm, the bottle with dark brown color with the other.",
+    "Grab and hold the yellow text bottle, then grab the medium plastic bottle.",
+    "Hold onto the smooth red cylindrical bottle and then get the medium plastic bottle.",
+    "Use one arm for the red bottle with narrow neck, the other for the medium bottle with smooth texture.",
+    "Catch the red bottle with curved grooves in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Grab the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Secure the yellow text bottle, then secure the plastic bottle with printed label.",
+    "Pick up both the red bottle with screw cap and the plastic bottle for liquids.",
+    "Pick up both the plastic bottle and the handheld brown bottle with white lid together.",
+    "Lift the handheld plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Hold the bottle with red cap in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Use both arms to pick up the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with white bottom text, pick up the medium plastic bottle.",
+    "Grab the yellow text bottle using an arm and the bottle with brown body and white top with the other arm.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the bottle with dark brown color.",
+    "Grab the medium-size plastic bottle using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Use both arms to lift the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Catch the yellow text bottle, then take hold of the smooth brown bottle.",
+    "Secure both the smooth red cylindrical bottle and the bottle with dark brown color quickly.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium bottle with smooth texture.",
+    "Catch the bottle with red cap, grab the medium plastic bottle next.",
+    "Assign one arm to each of the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Hold the plastic bottle in one arm, the bottle with dark brown color in the other.",
+    "Pick both the plastic bottle with bright red color and the medium bottle with smooth texture one after another.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with white cap.",
+    "Secure the plastic bottle and the white-capped brown cylindrical bottle in succession.",
+    "Use one arm for the red bottle with curved grooves and the other for the plastic bottle with printed label."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode5.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a6783c1039b4fea7f484adfc3680ca5f764567
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with white bottom text, another for the rounded bottle with printed details.",
+    "Catch the red bottle, then catch the medium plastic bottle.",
+    "Grab the medium-size plastic bottle and pick up the rounded bottle with printed details.",
+    "Hold the bottle with red cap with one arm, hold the handheld brown bottle with white lid with the other.",
+    "With both arms, pick up the red bottle with narrow neck, then the white-capped brown cylindrical bottle.",
+    "Hold both the red bottle with curved grooves and the bottle with dark brown color.",
+    "Secure the plastic bottle with bright red color, then secure the bottle with brown body and white top.",
+    "Hold the yellow text bottle in one arm, the bottle with white cap in the other.",
+    "Each arm should pick up one: the handheld plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with screw cap, then grab the bottle with brown body and white top.",
+    "One arm grabs the yellow text bottle; the other arm grabs the bottle with white cap.",
+    "Pick up both the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, then grab the plastic bottle for liquids too.",
+    "Hold onto the plastic bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Lift both the red bottle with white bottom text and the medium plastic bottle simultaneously.",
+    "Use each arm to lift the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the plastic bottle with bright red color or the smooth brown bottle.",
+    "Pick up the red bottle with screw cap and then pick up the white-capped brown cylindrical bottle.",
+    "Lift the red bottle, continue and pick up the bottle with brown body and white top.",
+    "Grab the plastic bottle using one arm and the handheld brown bottle with white lid using the other.",
+    "Lift the yellow text bottle and also take hold of the plastic bottle for liquids.",
+    "Grab the yellow text bottle using an arm and the medium bottle with smooth texture with the other arm.",
+    "With two arms, catch both the plastic bottle and the plastic bottle with printed label.",
+    "Assign one arm to catch the yellow text bottle, one for the smooth brown bottle.",
+    "Pick up the red bottle with white bottom text, then pick up the white-capped brown cylindrical bottle.",
+    "Pick up both the handheld plastic bottle and the plastic bottle with printed label together.",
+    "Lift the red bottle and the white-capped brown cylindrical bottle with separate arms.",
+    "Take hold of the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Grasp the red bottle with narrow neck first, then take the bottle with white cap.",
+    "Catch the red bottle with curved grooves in one arm and the rounded bottle with printed details in the other arm.",
+    "Use both arms to pick up the plastic bottle and the smooth brown bottle.",
+    "Hold the medium-size plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Secure the smooth red cylindrical bottle and the rounded bottle with printed details in succession.",
+    "Grab the red bottle with screw cap with one arm, the bottle with brown body and white top with the other.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with dark brown color.",
+    "Use one arm for the red bottle with screw cap, the other for the plastic bottle with printed label.",
+    "Hold onto the red bottle and then get the bottle with dark brown color.",
+    "Pick both the bottle with red cap and the medium plastic bottle one after another.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Use one arm for the red bottle with curved grooves and the other for the bottle with white cap.",
+    "Use both arms to pick up the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Catch the yellow text bottle, grab the medium bottle with smooth texture next.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the bottle with white cap with the other.",
+    "Catch both the yellow text bottle and the plastic bottle with printed label quickly.",
+    "Collect the plastic bottle, then pick up the plastic bottle with printed label.",
+    "Grab the medium-size plastic bottle, pick up the bottle with white cap.",
+    "Grab the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the handheld plastic bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Secure both the plastic bottle with bright red color and the rounded bottle with printed details quickly.",
+    "Catch the handheld plastic bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with curved grooves, another for the rounded bottle with printed details.",
+    "Catch the medium-size plastic bottle, then catch the bottle with white cap.",
+    "Grab the plastic bottle with bright red color and pick up the medium bottle with smooth texture.",
+    "Hold the bottle with red cap with one arm, hold the smooth brown bottle with the other.",
+    "With both arms, pick up the red bottle, then the bottle with brown body and white top.",
+    "Hold both the red bottle with narrow neck and the medium plastic bottle.",
+    "Secure the bottle with red cap, then secure the plastic bottle with printed label.",
+    "Hold the yellow text bottle in one arm, the smooth brown bottle in the other.",
+    "Each arm should pick up one: the bottle with red cap, then the plastic bottle with printed label.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the bottle with dark brown color.",
+    "One arm grabs the bottle with red cap; the other arm grabs the plastic bottle for liquids.",
+    "Pick up both the red bottle and the rounded bottle with printed details.",
+    "Catch the red bottle with white bottom text, then grab the rounded bottle with printed details too.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Lift both the red bottle and the smooth brown bottle simultaneously.",
+    "Use each arm to lift the handheld plastic bottle and the bottle with white cap.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with white cap.",
+    "Pick up the bottle with red cap and then pick up the handheld brown bottle with white lid.",
+    "Lift the red bottle with screw cap, continue and pick up the rounded bottle with printed details.",
+    "Grab the yellow text bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Lift the red bottle with white bottom text and also take hold of the medium plastic bottle.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with white cap with the other arm.",
+    "With two arms, catch both the bottle with red cap and the bottle with white cap.",
+    "Assign one arm to catch the plastic bottle, one for the bottle with brown body and white top.",
+    "Pick up the handheld plastic bottle, then pick up the bottle with white cap.",
+    "Pick up both the plastic bottle with bright red color and the bottle with dark brown color together.",
+    "Lift the bottle with red cap and the smooth brown bottle with separate arms.",
+    "Take hold of the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Grasp the red bottle with screw cap first, then take the smooth brown bottle.",
+    "Catch the red bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with white cap.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Secure the red bottle with white bottom text and the handheld brown bottle with white lid in succession.",
+    "Grab the yellow text bottle with one arm, the bottle with dark brown color with the other.",
+    "Use both arms to lift the plastic bottle and the smooth brown bottle.",
+    "Use one arm for the red bottle with narrow neck, the other for the medium bottle with smooth texture.",
+    "Hold onto the red bottle with white bottom text and then get the bottle with dark brown color.",
+    "Pick both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle one after another.",
+    "Assign one arm to each of the bottle with red cap and the bottle with white cap.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with screw cap and the rounded bottle with printed details.",
+    "Catch the bottle with red cap, grab the medium bottle with smooth texture next.",
+    "Lift both bottles, the plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Catch both the plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Collect the red bottle with white bottom text, then pick up the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle, pick up the bottle with dark brown color.",
+    "Grab the red bottle with screw cap with one arm, the smooth brown bottle with the other.",
+    "Catch the yellow text bottle with one arm, the bottle with dark brown color with another arm.",
+    "Secure both the red bottle and the bottle with brown body and white top quickly.",
+    "Catch the handheld plastic bottle, then take hold of the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode6.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..91a4d79277795a5b6d30cc061335ca56e8d4f296
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the red bottle and the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the plastic bottle with printed label.",
+    "Lift the red bottle with curved grooves and also take hold of the plastic bottle with printed label.",
+    "Secure the red bottle and the bottle with brown body and white top in succession.",
+    "Let each arm grab either the bottle with red cap or the bottle with dark brown color.",
+    "Grab the medium-size plastic bottle, pick up the plastic bottle for liquids.",
+    "Use one arm for the bottle with red cap and the other for the bottle with dark brown color.",
+    "Use one arm for the red bottle with narrow neck, the other for the cylindrical bottle with narrow neck.",
+    "Grab the yellow text bottle with one arm, the bottle with white cap with the other.",
+    "Catch both the red bottle with narrow neck and the plastic bottle for liquids quickly.",
+    "Lift the red bottle with narrow neck and the bottle with white cap with separate arms.",
+    "Hold onto the yellow text bottle and then get the medium bottle with smooth texture.",
+    "Pick up both the plastic bottle with bright red color and the smooth brown bottle together.",
+    "Pick up both the red bottle and the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with white bottom text, then the medium bottle with smooth texture.",
+    "Collect the red bottle with curved grooves, then pick up the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Hold the medium-size plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Lift both the red bottle with narrow neck and the bottle with dark brown color simultaneously.",
+    "Catch the red bottle with screw cap with one arm, the bottle with dark brown color with another arm.",
+    "Pick both the red bottle and the medium plastic bottle one after another.",
+    "Use both arms to lift the plastic bottle and the bottle with white cap.",
+    "Hold onto the handheld plastic bottle, then pick up the handheld brown bottle with white lid.",
+    "Catch the red bottle with screw cap, then take hold of the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with screw cap, then grab the smooth brown bottle too.",
+    "Pick up the yellow text bottle and then pick up the medium bottle with smooth texture.",
+    "Grab and hold the plastic bottle, then grab the bottle with white cap.",
+    "Catch the medium-size plastic bottle, then catch the plastic bottle with printed label.",
+    "Catch the medium-size plastic bottle, grab the bottle with white cap next.",
+    "Hold the bottle with red cap with one arm, hold the plastic bottle for liquids with the other.",
+    "Grab the medium-size plastic bottle and pick up the cylindrical bottle with narrow neck.",
+    "Take hold of the plastic bottle and the handheld brown bottle with white lid.",
+    "With two arms, catch both the yellow text bottle and the plastic bottle for liquids.",
+    "Assign one arm to catch the plastic bottle, one for the bottle with brown body and white top.",
+    "Use each arm to lift the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Secure both the yellow text bottle and the bottle with dark brown color quickly.",
+    "Lift the bottle with red cap, continue and pick up the handheld brown bottle with white lid.",
+    "Use one arm for the handheld plastic bottle, another for the plastic bottle with printed label.",
+    "Hold both the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle using one arm and the plastic bottle for liquids using the other.",
+    "Catch the red bottle with white bottom text in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Hold the red bottle with white bottom text in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Grab the red bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Each arm should pick up one: the red bottle with screw cap, then the cylindrical bottle with narrow neck.",
+    "Pick up the plastic bottle with bright red color, then pick up the bottle with dark brown color.",
+    "Grab the plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Grasp the red bottle with narrow neck first, then take the bottle with white cap.",
+    "Lift both bottles, the bottle with red cap with one arm, the bottle with brown body and white top with the other.",
+    "Secure the red bottle with screw cap, then secure the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Lift the red bottle with curved grooves and also take hold of the handheld brown bottle with white lid.",
+    "Secure the red bottle with screw cap and the bottle with brown body and white top in succession.",
+    "Let each arm grab either the red bottle with narrow neck or the medium plastic bottle.",
+    "Grab the bottle with red cap, pick up the bottle with brown body and white top.",
+    "Use one arm for the red bottle and the other for the medium plastic bottle.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the bottle with dark brown color.",
+    "Grab the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch both the smooth red cylindrical bottle and the plastic bottle for liquids quickly.",
+    "Lift the red bottle and the handheld brown bottle with white lid with separate arms.",
+    "Hold onto the medium-size plastic bottle and then get the smooth brown bottle.",
+    "Pick up both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck together.",
+    "Pick up both the red bottle with screw cap and the plastic bottle with printed label.",
+    "With both arms, pick up the handheld plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Collect the red bottle with screw cap, then pick up the smooth brown bottle.",
+    "Use both arms to pick up the plastic bottle and the plastic bottle with printed label.",
+    "Hold the bottle with red cap in one arm, catch the bottle with dark brown color with the other arm.",
+    "Lift both the red bottle and the plastic bottle for liquids simultaneously.",
+    "Catch the red bottle with screw cap with one arm, the medium bottle with smooth texture with another arm.",
+    "Pick both the plastic bottle and the white-capped brown cylindrical bottle one after another.",
+    "Use both arms to lift the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Hold onto the red bottle with curved grooves, then pick up the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, then take hold of the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck, then grab the bottle with white cap too.",
+    "Pick up the red bottle with curved grooves and then pick up the cylindrical bottle with narrow neck.",
+    "Grab and hold the bottle with red cap, then grab the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, then catch the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with curved grooves, grab the white-capped brown cylindrical bottle next.",
+    "Hold the red bottle with one arm, hold the rounded bottle with printed details with the other.",
+    "Grab the red bottle with narrow neck and pick up the plastic bottle for liquids.",
+    "Take hold of the yellow text bottle and the rounded bottle with printed details.",
+    "With two arms, catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the medium plastic bottle.",
+    "Use each arm to lift the medium-size plastic bottle and the smooth brown bottle.",
+    "Secure both the yellow text bottle and the bottle with dark brown color quickly.",
+    "Lift the medium-size plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "Use one arm for the smooth red cylindrical bottle, another for the bottle with dark brown color.",
+    "Hold both the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Grab the medium-size plastic bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Catch the bottle with red cap in one arm and the bottle with brown body and white top in the other arm.",
+    "Hold the plastic bottle in one arm, the smooth brown bottle in the other.",
+    "Grab the yellow text bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Each arm should pick up one: the handheld plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Pick up the medium-size plastic bottle, then pick up the plastic bottle with printed label.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with white cap with the other.",
+    "Grasp the handheld plastic bottle first, then take the bottle with dark brown color.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Secure the red bottle with narrow neck, then secure the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode7.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..d357072d4d57853a5842232185d2ea0bb06d538f
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the red bottle with curved grooves, then secure the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Use one arm for the handheld plastic bottle, the other for the bottle with brown body and white top.",
+    "Hold the red bottle with screw cap in one arm, the bottle with brown body and white top in the other.",
+    "Pick up the handheld plastic bottle, then pick up the medium bottle with smooth texture.",
+    "Catch the plastic bottle with bright red color, then take hold of the medium plastic bottle.",
+    "Collect the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "With two arms, catch both the plastic bottle and the handheld brown bottle with white lid.",
+    "Hold the handheld plastic bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Secure both the red bottle with screw cap and the medium plastic bottle quickly.",
+    "Grab the smooth red cylindrical bottle and pick up the bottle with white cap.",
+    "Use each arm to lift the red bottle with white bottom text and the medium bottle with smooth texture.",
+    "One arm grabs the yellow text bottle; the other arm grabs the medium plastic bottle.",
+    "Take hold of the plastic bottle and the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Use one arm for the red bottle with curved grooves and the other for the handheld brown bottle with white lid.",
+    "Lift the smooth red cylindrical bottle and also take hold of the plastic bottle with printed label.",
+    "Catch the red bottle with white bottom text, then catch the white-capped brown cylindrical bottle.",
+    "Pick both the red bottle with narrow neck and the plastic bottle for liquids one after another.",
+    "Use one arm for the plastic bottle, another for the medium bottle with smooth texture.",
+    "Lift both the red bottle with white bottom text and the rounded bottle with printed details simultaneously.",
+    "Hold onto the bottle with red cap, then pick up the plastic bottle with printed label.",
+    "Use both arms to pick up the plastic bottle with bright red color and the smooth brown bottle.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the bottle with dark brown color.",
+    "With both arms, pick up the medium-size plastic bottle, then the smooth brown bottle.",
+    "Grasp the red bottle first, then take the rounded bottle with printed details.",
+    "Secure the red bottle and the bottle with white cap in succession.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Use both arms to lift the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Grab the plastic bottle, pick up the white-capped brown cylindrical bottle.",
+    "Hold both the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Hold the bottle with red cap with one arm, hold the medium plastic bottle with the other.",
+    "Let each arm grab either the red bottle with white bottom text or the rounded bottle with printed details.",
+    "Pick up both the red bottle and the medium bottle with smooth texture together.",
+    "Grab the red bottle with curved grooves using an arm and the smooth brown bottle with the other arm.",
+    "Grab the yellow text bottle with one arm, the bottle with dark brown color with the other.",
+    "Catch the smooth red cylindrical bottle, grab the white-capped brown cylindrical bottle next.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the medium plastic bottle with the other.",
+    "Pick up the plastic bottle and then pick up the medium bottle with smooth texture.",
+    "Lift the handheld plastic bottle and the handheld brown bottle with white lid with separate arms.",
+    "Lift the medium-size plastic bottle, continue and pick up the bottle with white cap.",
+    "Grab and hold the red bottle with screw cap, then grab the rounded bottle with printed details.",
+    "Catch the red bottle with white bottom text, then grab the medium bottle with smooth texture too.",
+    "Hold onto the handheld plastic bottle and then get the rounded bottle with printed details.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the rounded bottle with printed details.",
+    "Catch the red bottle with screw cap in one arm and the bottle with brown body and white top in the other arm.",
+    "Catch both the plastic bottle with bright red color and the handheld brown bottle with white lid quickly.",
+    "Pick up both the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Grab the red bottle with curved grooves using one arm and the plastic bottle for liquids using the other.",
+    "Use both arms to pick up the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Secure the medium-size plastic bottle, then secure the medium plastic bottle.",
+    "Catch the handheld plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Use one arm for the plastic bottle with bright red color, the other for the bottle with white cap.",
+    "Hold the red bottle with curved grooves in one arm, the medium bottle with smooth texture in the other.",
+    "Pick up the bottle with red cap, then pick up the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, then take hold of the medium plastic bottle.",
+    "Collect the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "With two arms, catch both the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Secure both the red bottle with narrow neck and the plastic bottle for liquids quickly.",
+    "Grab the red bottle with white bottom text and pick up the bottle with brown body and white top.",
+    "Use each arm to lift the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the smooth brown bottle.",
+    "Take hold of the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use one arm for the plastic bottle and the other for the plastic bottle with printed label.",
+    "Lift the red bottle with screw cap and also take hold of the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle, then catch the medium bottle with smooth texture.",
+    "Pick both the red bottle with screw cap and the handheld brown bottle with white lid one after another.",
+    "Use one arm for the red bottle with narrow neck, another for the plastic bottle for liquids.",
+    "Lift both the red bottle with white bottom text and the white-capped brown cylindrical bottle simultaneously.",
+    "Hold onto the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with curved grooves and the bottle with white cap.",
+    "Each arm should pick up one: the bottle with red cap, then the plastic bottle for liquids.",
+    "With both arms, pick up the plastic bottle, then the bottle with dark brown color.",
+    "Grasp the red bottle with white bottom text first, then take the cylindrical bottle with narrow neck.",
+    "Secure the red bottle with white bottom text and the smooth brown bottle in succession.",
+    "Assign one arm to each of the bottle with red cap and the bottle with brown body and white top.",
+    "Use both arms to lift the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with white bottom text, pick up the medium bottle with smooth texture.",
+    "Hold both the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Hold the red bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "Let each arm grab either the red bottle with narrow neck or the rounded bottle with printed details.",
+    "Pick up both the handheld plastic bottle and the plastic bottle with printed label together.",
+    "Grab the red bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Grab the handheld plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the red bottle with narrow neck, grab the bottle with white cap next.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the bottle with brown body and white top with the other.",
+    "Pick up the red bottle with screw cap and then pick up the plastic bottle for liquids.",
+    "Lift the red bottle with curved grooves and the bottle with dark brown color with separate arms.",
+    "Lift the plastic bottle with bright red color, continue and pick up the bottle with brown body and white top.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle, then grab the plastic bottle for liquids too.",
+    "Hold onto the yellow text bottle and then get the rounded bottle with printed details.",
+    "Assign one arm to catch the yellow text bottle, one for the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck in one arm and the rounded bottle with printed details in the other arm.",
+    "Catch both the red bottle with white bottom text and the medium plastic bottle quickly.",
+    "Pick up both the red bottle and the bottle with brown body and white top.",
+    "Grab the plastic bottle with bright red color using one arm and the plastic bottle for liquids using the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle for liquids."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode8.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb24e3e5228a7fc96974593b15f6a372d0d31ee
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift both bottles, the handheld plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Catch the red bottle with narrow neck, then catch the white-capped brown cylindrical bottle.",
+    "Collect the red bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Take hold of the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Hold onto the red bottle with screw cap and then get the bottle with white cap.",
+    "Let each arm grab either the red bottle with screw cap or the plastic bottle with printed label.",
+    "Use one arm for the red bottle, the other for the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with white bottom text with one arm, the bottle with white cap with another arm.",
+    "Grab the red bottle with narrow neck, pick up the medium plastic bottle.",
+    "With both arms, pick up the red bottle, then the cylindrical bottle with narrow neck.",
+    "Secure the red bottle with screw cap, then secure the bottle with brown body and white top.",
+    "Lift the bottle with red cap and also take hold of the white-capped brown cylindrical bottle.",
+    "Hold the bottle with red cap with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Hold the plastic bottle with bright red color in one arm, the bottle with brown body and white top in the other.",
+    "Use one arm for the red bottle with screw cap and the other for the bottle with white cap.",
+    "Grab and hold the plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "Grab the red bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "Catch the red bottle with narrow neck, grab the bottle with brown body and white top next.",
+    "Pick both the red bottle with white bottom text and the plastic bottle with printed label one after another.",
+    "Catch the red bottle with screw cap, then grab the plastic bottle for liquids too.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Catch both the smooth red cylindrical bottle and the rounded bottle with printed details quickly.",
+    "Grab the red bottle and pick up the plastic bottle with printed label.",
+    "Assign one arm to catch the red bottle, one for the smooth brown bottle.",
+    "Lift both the handheld plastic bottle and the bottle with dark brown color simultaneously.",
+    "Use each arm to lift the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the handheld brown bottle with white lid.",
+    "Lift the red bottle with narrow neck, continue and pick up the smooth brown bottle.",
+    "Grab the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the medium plastic bottle.",
+    "Hold onto the red bottle with screw cap, then pick up the smooth brown bottle.",
+    "Use one arm for the handheld plastic bottle, another for the rounded bottle with printed details.",
+    "Catch the red bottle with narrow neck in one arm and the bottle with brown body and white top in the other arm.",
+    "Use both arms to lift the plastic bottle and the bottle with brown body and white top.",
+    "Catch the bottle with red cap, then take hold of the plastic bottle for liquids.",
+    "Pick up the handheld plastic bottle and then pick up the medium plastic bottle.",
+    "Grab the red bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up both the red bottle and the medium bottle with smooth texture together.",
+    "Grasp the plastic bottle with bright red color first, then take the handheld brown bottle with white lid.",
+    "Assign one arm to each of the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Pick up both the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "Use both arms to pick up the red bottle with screw cap and the rounded bottle with printed details.",
+    "Lift the smooth red cylindrical bottle and the plastic bottle for liquids with separate arms.",
+    "Pick up the bottle with red cap, then pick up the bottle with brown body and white top.",
+    "Hold both the yellow text bottle and the handheld brown bottle with white lid.",
+    "With two arms, catch both the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grab the yellow text bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Secure the red bottle with curved grooves and the white-capped brown cylindrical bottle in succession.",
+    "Secure both the red bottle with curved grooves and the cylindrical bottle with narrow neck quickly.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Catch the red bottle with curved grooves, then catch the medium plastic bottle.",
+    "Collect the red bottle with curved grooves, then pick up the bottle with brown body and white top.",
+    "Take hold of the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Hold onto the red bottle with narrow neck and then get the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the red bottle with narrow neck or the cylindrical bottle with narrow neck.",
+    "Use one arm for the plastic bottle, the other for the plastic bottle with printed label.",
+    "Catch the red bottle with white bottom text with one arm, the medium bottle with smooth texture with another arm.",
+    "Grab the yellow text bottle, pick up the bottle with white cap.",
+    "With both arms, pick up the red bottle with white bottom text, then the smooth brown bottle.",
+    "Secure the red bottle with screw cap, then secure the handheld brown bottle with white lid.",
+    "Lift the yellow text bottle and also take hold of the bottle with dark brown color.",
+    "Hold the plastic bottle with one arm, hold the smooth brown bottle with the other.",
+    "Hold the red bottle with screw cap in one arm, the plastic bottle for liquids in the other.",
+    "Use one arm for the red bottle with white bottom text and the other for the bottle with white cap.",
+    "Grab and hold the red bottle with narrow neck, then grab the bottle with dark brown color.",
+    "Grab the plastic bottle with bright red color using an arm and the bottle with brown body and white top with the other arm.",
+    "Catch the handheld plastic bottle, grab the cylindrical bottle with narrow neck next.",
+    "Pick both the plastic bottle with bright red color and the plastic bottle for liquids one after another.",
+    "Catch the plastic bottle, then grab the plastic bottle for liquids too.",
+    "Hold the yellow text bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Catch both the plastic bottle with bright red color and the medium bottle with smooth texture quickly.",
+    "Grab the smooth red cylindrical bottle and pick up the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the yellow text bottle, one for the bottle with white cap.",
+    "Lift both the red bottle and the bottle with brown body and white top simultaneously.",
+    "Use each arm to lift the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "One arm grabs the bottle with red cap; the other arm grabs the plastic bottle with printed label.",
+    "Lift the plastic bottle with bright red color, continue and pick up the bottle with dark brown color.",
+    "Grab the red bottle with screw cap with one arm, the medium plastic bottle with the other.",
+    "Use both arms to pick up the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the plastic bottle for liquids.",
+    "Hold onto the red bottle with narrow neck, then pick up the bottle with white cap.",
+    "Use one arm for the red bottle with white bottom text, another for the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck in one arm and the rounded bottle with printed details in the other arm.",
+    "Use both arms to lift the bottle with red cap and the medium plastic bottle.",
+    "Catch the red bottle, then take hold of the medium plastic bottle.",
+    "Pick up the handheld plastic bottle and then pick up the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Pick up both the red bottle with curved grooves and the handheld brown bottle with white lid together.",
+    "Grasp the red bottle with white bottom text first, then take the medium bottle with smooth texture.",
+    "Assign one arm to each of the red bottle and the rounded bottle with printed details.",
+    "Pick up both the red bottle with curved grooves and the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with narrow neck and the smooth brown bottle.",
+    "Lift the bottle with red cap and the bottle with white cap with separate arms.",
+    "Pick up the handheld plastic bottle, then pick up the plastic bottle with printed label.",
+    "Hold both the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the red bottle and the smooth brown bottle.",
+    "Grab the red bottle with screw cap using one arm and the bottle with white cap using the other.",
+    "Secure the red bottle with screw cap and the medium plastic bottle in succession.",
+    "Secure both the red bottle and the plastic bottle for liquids quickly."
+  ],
+  "unseen": [
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the shiny red bottle using one arm and lift the brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the shiny red bottle and take the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Lift the bottle with white and yellow label using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up both the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode9.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71d828045a0d83ce4d314919bfb282d85f7b0cd
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with red cap, pick up the medium plastic bottle.",
+    "Catch the red bottle with screw cap, then grab the handheld brown bottle with white lid too.",
+    "Grab the bottle with red cap with one arm, the bottle with dark brown color with the other.",
+    "One arm grabs the plastic bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the rounded bottle with printed details.",
+    "Pick both the plastic bottle and the medium bottle with smooth texture one after another.",
+    "Use both arms to pick up the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "Assign one arm to each of the handheld plastic bottle and the smooth brown bottle.",
+    "Catch the red bottle with curved grooves, then catch the plastic bottle with printed label.",
+    "Secure the handheld plastic bottle and the plastic bottle with printed label in succession.",
+    "Grab the bottle with red cap with one arm, the rounded bottle with printed details with the other.",
+    "Lift both the red bottle with curved grooves and the bottle with white cap simultaneously.",
+    "Grab the medium-size plastic bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the plastic bottle for liquids.",
+    "Hold both the yellow text bottle and the bottle with dark brown color.",
+    "Lift the plastic bottle with bright red color and also take hold of the rounded bottle with printed details.",
+    "Catch the smooth red cylindrical bottle, then take hold of the handheld brown bottle with white lid.",
+    "Hold onto the handheld plastic bottle, then pick up the bottle with white cap.",
+    "Catch the medium-size plastic bottle, grab the medium plastic bottle next.",
+    "Hold onto the handheld plastic bottle and then get the plastic bottle with printed label.",
+    "With both arms, pick up the medium-size plastic bottle, then the plastic bottle for liquids.",
+    "Secure both the smooth red cylindrical bottle and the handheld brown bottle with white lid quickly.",
+    "Hold the plastic bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "Each arm should pick up one: the bottle with red cap, then the medium plastic bottle.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with white cap.",
+    "Hold the red bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Use both arms to pick up the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Use one arm for the plastic bottle, the other for the bottle with dark brown color.",
+    "Pick up both the handheld plastic bottle and the bottle with white cap.",
+    "Pick up both the yellow text bottle and the medium bottle with smooth texture together.",
+    "Pick up the yellow text bottle and then pick up the medium bottle with smooth texture.",
+    "Lift the red bottle with narrow neck, continue and pick up the handheld brown bottle with white lid.",
+    "With two arms, catch both the medium-size plastic bottle and the medium plastic bottle.",
+    "Pick up the medium-size plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Collect the yellow text bottle, then pick up the rounded bottle with printed details.",
+    "Grab the plastic bottle and pick up the plastic bottle for liquids.",
+    "Catch both the red bottle and the rounded bottle with printed details quickly.",
+    "Use one arm for the bottle with red cap, another for the smooth brown bottle.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with the other.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with dark brown color.",
+    "Grab the yellow text bottle using one arm and the bottle with brown body and white top using the other.",
+    "Catch the medium-size plastic bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Grab and hold the red bottle, then grab the plastic bottle for liquids.",
+    "Secure the plastic bottle with bright red color, then secure the medium plastic bottle.",
+    "Grasp the red bottle with narrow neck first, then take the medium plastic bottle.",
+    "Catch the handheld plastic bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Take hold of the red bottle and the medium bottle with smooth texture.",
+    "Let each arm grab either the bottle with red cap or the plastic bottle with printed label.",
+    "Lift the smooth red cylindrical bottle and the bottle with dark brown color with separate arms.",
+    "Hold the handheld plastic bottle in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Grab the medium-size plastic bottle, pick up the medium bottle with smooth texture.",
+    "Catch the red bottle with narrow neck, then grab the cylindrical bottle with narrow neck too.",
+    "Grab the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "One arm grabs the bottle with red cap; the other arm grabs the bottle with white cap.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the bottle with brown body and white top.",
+    "Pick both the plastic bottle and the rounded bottle with printed details one after another.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium plastic bottle.",
+    "Assign one arm to each of the red bottle with narrow neck and the medium plastic bottle.",
+    "Catch the plastic bottle, then catch the plastic bottle with printed label.",
+    "Secure the plastic bottle with bright red color and the smooth brown bottle in succession.",
+    "Grab the red bottle with narrow neck with one arm, the smooth brown bottle with the other.",
+    "Lift both the smooth red cylindrical bottle and the handheld brown bottle with white lid simultaneously.",
+    "Grab the red bottle with white bottom text using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Use one arm for the plastic bottle and the other for the white-capped brown cylindrical bottle.",
+    "Hold both the red bottle with screw cap and the white-capped brown cylindrical bottle.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with white cap.",
+    "Catch the red bottle with curved grooves, then take hold of the cylindrical bottle with narrow neck.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the medium bottle with smooth texture.",
+    "Catch the yellow text bottle, grab the medium bottle with smooth texture next.",
+    "Hold onto the bottle with red cap and then get the medium plastic bottle.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the rounded bottle with printed details.",
+    "Secure both the red bottle with screw cap and the medium plastic bottle quickly.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the plastic bottle for liquids.",
+    "Use both arms to lift the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with narrow neck in one arm, the plastic bottle for liquids in the other.",
+    "Use both arms to pick up the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Use one arm for the bottle with red cap, the other for the plastic bottle for liquids.",
+    "Pick up both the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Pick up both the medium-size plastic bottle and the cylindrical bottle with narrow neck together.",
+    "Pick up the medium-size plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Lift the handheld plastic bottle, continue and pick up the smooth brown bottle.",
+    "With two arms, catch both the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Pick up the red bottle with curved grooves, then pick up the white-capped brown cylindrical bottle.",
+    "Collect the plastic bottle, then pick up the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap and pick up the medium plastic bottle.",
+    "Catch both the red bottle with white bottom text and the medium bottle with smooth texture quickly.",
+    "Use one arm for the medium-size plastic bottle, another for the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with white cap.",
+    "Grab the plastic bottle using one arm and the plastic bottle for liquids using the other.",
+    "Catch the red bottle with white bottom text in one arm and the rounded bottle with printed details in the other arm.",
+    "Grab and hold the red bottle with white bottom text, then grab the smooth brown bottle.",
+    "Secure the red bottle with curved grooves, then secure the bottle with brown body and white top.",
+    "Grasp the red bottle first, then take the bottle with brown body and white top.",
+    "Catch the plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Take hold of the handheld plastic bottle and the rounded bottle with printed details.",
+    "Let each arm grab either the bottle with red cap or the plastic bottle for liquids.",
+    "Lift the yellow text bottle and the bottle with white cap with separate arms.",
+    "Hold the red bottle in one arm, catch the medium bottle with smooth texture with the other arm."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle and the brown bottle at the same time.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown bottle with the other.",
+    "Grab the bottle with white and yellow label and the brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Use each arm to grab the bottle with white and yellow label and the lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Pick up the bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the brown bottle using the other.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "Pick up the bottle with white and yellow label and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown bottle.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle with one arm, grab the lightweight plastic brown bottle with the other.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Grab the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown cylindrical bottle with label using the other.",
+    "Use each arm to lift a bottle: the bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Grab the bottle with white and yellow label and the brown cylindrical bottle with label at the same time.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "Use each arm to grab the bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown cylindrical bottle with label with the other.",
+    "Pick up the bottle with yellow Chinese characters and take the lightweight plastic brown bottle together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using the other.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, then the brown bottle.",
+    "Pick up the bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with white and yellow label with one arm, grab the lightweight plastic brown bottle with the other."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/scene_info.json b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd43435f3e89d53b09bcda146abab13ef5d7ce5
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/scene_info.json
@@ -0,0 +1,14502 @@
+{
+    "episode_0": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
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+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
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+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
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+                                -0.16999999999999998
+                            ],
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+                                0.05
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+                            "qpos": [
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+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
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+                            "ylim": [
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+                                0.025
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+                                0.741
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+                                0.7,
+                                0,
+                                0,
+                                0.7
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+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
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+                                -0.020000000000000004
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+                                0.741
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+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "pick_diverse_bottles",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base0",
+            "{B}": "001_bottle/base15"
+        }
+    },
+    "episode_1": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
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+                                -0.020000000000000004
+                            ],
+                            "zlim": [
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+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
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+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.07500000000000001,
+                                0.025
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
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+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
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+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.07500000000000001,
+                                0.025
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "pick_diverse_bottles",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base0",
+            "{B}": "001_bottle/base15"
+        }
+    },
+    "episode_49": {
+        "robotwin_gen": {
+            "language_style": "template_bucket_0",
+            "scene_spec": {
+                "move_can_pot": {
+                    "pot": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0,
+                                1
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                0.05,
+                                0.15000000000000002
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_can_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "can": {
+                        "modelname": "071_can",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "open_laptop": {
+                    "laptop": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "ylim": [
+                                -0.07500000000000001,
+                                0.025
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.7,
+                                0,
+                                0,
+                                0.7
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "place_object_basket": {
+                    "arm_tag": "left",
+                    "basket": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.030000000000000002,
+                                0.07
+                            ],
+                            "ylim": [
+                                -0.12000000000000001,
+                                -0.020000000000000004
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.5,
+                                0.5,
+                                0.5,
+                                0.5
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "object": {
+                        "modelname": "081_playingcards",
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.27,
+                                -0.16999999999999998
+                            ],
+                            "ylim": [
+                                -0.05,
+                                0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.707225,
+                                0.706849,
+                                -0.0100455,
+                                -0.00982061
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "pick_diverse_bottles": {
+                    "bottle1": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.25,
+                                -0.15000000000000002
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.66,
+                                0.66,
+                                -0.25,
+                                -0.25
+                            ],
+                            "rotate_rand": false
+                        }
+                    },
+                    "bottle2": {
+                        "model_id": 15,
+                        "rand_pose": {
+                            "xlim": [
+                                0.15000000000000002,
+                                0.25
+                            ],
+                            "ylim": [
+                                0.06999999999999999,
+                                0.16999999999999998
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0.65,
+                                0.65,
+                                0.27,
+                                0.27
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                },
+                "rotate_qrcode": {
+                    "qrcode": {
+                        "model_id": 0,
+                        "rand_pose": {
+                            "xlim": [
+                                -0.2,
+                                -0.09999999999999999
+                            ],
+                            "ylim": [
+                                -0.15000000000000002,
+                                -0.05
+                            ],
+                            "zlim": [
+                                0.741,
+                                0.741
+                            ],
+                            "qpos": [
+                                0,
+                                0,
+                                0.707,
+                                0.707
+                            ],
+                            "rotate_rand": false
+                        }
+                    }
+                }
+            },
+            "suite": "language",
+            "split": "train",
+            "f1": "task_semantics",
+            "f1_value": "pick_diverse_bottles",
+            "f2": "instruction_template_bucket",
+            "f2_value": "template_bucket_0",
+            "l_sampling_anchor_task": "move_can_pot",
+            "l_sampling_anchor_f2": "template_bucket_0",
+            "fixed_factors": [
+                "visual domain",
+                "lighting",
+                "distractors",
+                "object pose distribution",
+                "camera",
+                "embodiment",
+                "table height"
+            ],
+            "strict_freeze": true
+        },
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base0",
+            "{B}": "001_bottle/base15"
+        }
+    }
+}
\ No newline at end of file
diff --git a/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/seed.txt b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eca404b04b54a8cf8da008c2135117d2bb7410a4
--- /dev/null
+++ b/language/train/pick_diverse_bottles/rtgen_language_train_pick_diverse_bottles_template_bucket_0/seed.txt
@@ -0,0 +1 @@
+1390356026 1926000074 1231138834 307894895 325010476 1921211192 122064244 1974089051 543927370 378562675 118357044 415267774 1742711955 1931429639 1351966729 720536388 2104197794 900256128 325839873 2085989356 25695687 711799041 430944928 537818170 231306412 2125535842 1455790734 2038267030 1210259512 1488588770 474720090 1694725142 233128389 1466783506 1574758327 1789846064 519871503 1886557638 432848338 1190749225 77083610 753129791 80630156 1556766150 1202177361 795185820 624970783 24771960 1732878074 1306955774 
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode47.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..de618fe0d73b8b8ea9154f3c9762f59f596ed2d5
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical white glossy can, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Pick up the can with gold top lid, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to hold the white can, drop the white can into the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the can with sealed gold top, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Hold the small white can with branding using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Pick up the small white can with branding using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Take the white can with 3D RADY label and put it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the same arm to grab the white can, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Take the red-orange text on white can, set it into the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the red-orange text on white can in the left arm, place it into the brown basket, another arm lifts the brown basket.",
+    "Use the left arm to grab the medium metal can and place in the basket with handle, lift the basket with handle with another arm.",
+    "Place the can with red-orange text in the basket for carrying things and then use another arm to lift the basket for carrying things.",
+    "Grab the can with sealed gold top with the left arm, put it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the basket with loop handle and lift the basket with loop handle.",
+    "Lift the can with sealed gold top, drop it into the basket for holding items, then carry the basket for holding items.",
+    "Pick up the small white can with branding, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the can with sealed gold top, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Take the can with sealed gold top with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm to grab the medium metal can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the red-orange text on white can, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick the white can with 3D RADY label, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Pick up the cylindrical white glossy can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Place the white can inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the cylindrical white glossy can, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick up the white can with 3D RADY label with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Pick the smooth white can with accents with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Place the can with gold top lid in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Grab the can with rounded cylindrical shape, place it in the basket with handle, and then lift the basket with handle.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the woven basket, and lift the woven basket.",
+    "Pick the small white can with branding with one arm, place it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the can with rounded cylindrical shape, set it into the basket for holding items, then raise the basket for holding items.",
+    "Lift the cylindrical white glossy can, set it in the light brown oval basket, and elevate the light brown oval basket.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Lift the smooth white can with accents, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.",
+    "Take the white can, place it into the woven basket, then lift the woven basket.",
+    "Grab the red-orange text on white can, place it in the brown basket with woven ridges, and raise the brown basket with woven ridges using the other arm.",
+    "Lift the smooth white can with accents, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Use the left arm to take the smooth white can with accents, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the beverage can with printed label, put it into the basket with handle, and lift the basket with handle with another arm.",
+    "Grab and drop the white can in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Grab the can with gold top lid, put it in the woven basket, then raise the woven basket.",
+    "Grab the can with gold top lid, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges upwards.",
+    "Lift the white can with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Grab the beverage can with printed label, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the can with red-orange text, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the smooth white can with accents, place it in the brown basket with woven ridges, pick up the brown basket with woven ridges afterward.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Drop the can with sealed gold top into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Grab the beverage can with printed label, drop it into the brown basket, then use another arm for the brown basket.",
+    "Pick up the smooth white can with accents, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick the can with gold top lid, set it in the brown basket, then lift the brown basket.",
+    "Hold the small white can with branding using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the can with gold top lid, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Pick up the medium metal can using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Take the medium metal can and put it in the brown basket, then lift the brown basket.",
+    "Use the same arm to grab the beverage can with printed label, place in the basket for holding items, and then lift the basket for holding items.",
+    "Take the white can with 3D RADY label, set it into the brown basket, and raise the brown basket.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the basket with handle, then lift the basket with handle.",
+    "Take the small white can with branding in the left arm, place it into the light brown oval basket, another arm lifts the light brown oval basket.",
+    "Use the left arm to grab the can with red-orange text and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Place the white can in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Grab the small white can with branding with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the brown basket and lift the brown basket.",
+    "Lift the can with rounded cylindrical shape, drop it into the wooden basket with curved handle, then carry the wooden basket with curved handle.",
+    "Pick up the can with rounded cylindrical shape, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the beverage can with printed label, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Take the can with gold top lid with the left arm, drop it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Use the left arm to grab the can with red-orange text, place it in the brown basket, and lift the brown basket.",
+    "Pick up the can with sealed gold top, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Pick the can with rounded cylindrical shape, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Pick up the red-orange text on white can, put it into the brown basket, and lift the brown basket.",
+    "Place the can with red-orange text inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Lift the white can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Pick up the white can with the left arm, place into the basket with handle, the other arm raises the basket with handle.",
+    "Pick the beverage can with printed label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Place the can with red-orange text in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Grab the cylindrical white glossy can, place it in the basket with handle, and then lift the basket with handle.",
+    "Use the left arm for the can with rounded cylindrical shape, place the can with rounded cylindrical shape in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick the white can with one arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the red-orange text on white can, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Lift the medium metal can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Pick the can with sealed gold top using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Lift the can with sealed gold top, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Take the smooth white can with accents, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with sealed gold top, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Lift the can with red-orange text, place it inside the basket for carrying things, and elevate the basket for carrying things.",
+    "Use the left arm to take the cylindrical white glossy can, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm to grab the white can with 3D RADY label, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Grab and drop the small white can with branding in the basket made of woven wood, lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Grab the can with red-orange text, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Lift the medium metal can with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Grab the small white can with branding, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Pick up the cylindrical white glossy can, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the smooth white can with accents, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Pick the white can with 3D RADY label with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Drop the red-orange text on white can into the oval-shaped basket with woven body using the left arm, then lift the oval-shaped basket with woven body with another arm."
+  ],
+  "unseen": [
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode49.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea40af1e385b005a4dc35a1a72975bc8ff3cd33
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium metal can, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Pick up the can with gold top lid, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the red-orange text on white can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Use the left arm to grab the medium metal can, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with another arm.",
+    "Grab the can with sealed gold top, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Pick up the can with sealed gold top with the left arm, place into the basket made of woven wood, the other arm raises the basket made of woven wood.",
+    "Lift the smooth white can with accents, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Lift the can with sealed gold top, put it in the basket made of woven wood, and carry the basket made of woven wood afterward.",
+    "Use the left arm to grab the beverage can with printed label, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Place the can with red-orange text inside the basket with handle, then lift the basket with handle.",
+    "Pick up the can with red-orange text using the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Grab the can with gold top lid, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Use the left arm for the beverage can with printed label, place the beverage can with printed label in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the beverage can with printed label, drop it into the light brown oval basket, then use another arm for the light brown oval basket.",
+    "Grab the white can, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Pick up the medium metal can, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Grab and drop the medium metal can in the brown basket with woven ridges, lift the brown basket with woven ridges.",
+    "Drop the cylindrical white glossy can into the smooth ribbed light brown basket using the left arm, then lift the smooth ribbed light brown basket with another arm.",
+    "Pick the red-orange text on white can using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Use the left arm to grab the small white can with branding and place in the basket with handle, lift the basket with handle with another arm.",
+    "Lift the cylindrical white glossy can, place it in the basket for holding items, and raise the basket for holding items.",
+    "Pick the beverage can with printed label, set it in the basket for holding items, and lift the basket for holding items upward.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the white can with 3D RADY label, put it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Take the can with sealed gold top, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Hold the smooth white can with accents using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Grab the small white can with branding, drop it into the basket with handle, and raise the basket with handle with the other arm.",
+    "Grab the red-orange text on white can, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Use the same arm to grab the small white can with branding, place in the basket with loop handle, and then lift the basket with loop handle.",
+    "Take the can with gold top lid in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the basket with handle, and lift the basket with handle.",
+    "Take the beverage can with printed label, set it into the basket for holding items, and raise the basket for holding items.",
+    "Lift the medium metal can, place it inside the basket with handle, and elevate the basket with handle.",
+    "Take the white can with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Pick the white can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Lift the white can with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Pick the white can, set it in the basket for holding items, then lift the basket for holding items.",
+    "Pick the can with sealed gold top with one arm, place it in the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Use the left arm to grab the can with red-orange text, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the cylindrical white glossy can with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Place the white can in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Pick the can with red-orange text with the left arm, set it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the beverage can with printed label, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Grab the small white can with branding using the left arm, drop the small white can with branding into the basket for holding items and lift the basket for holding items.",
+    "Pick up the medium metal can, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the white can with 3D RADY label, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Pick up the beverage can with printed label, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Place the cylindrical white glossy can in the brown basket and then lift the brown basket.",
+    "Use the left arm to pick the can with gold top lid, place it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Take the white can with 3D RADY label and put it in the basket made of woven wood, then lift the basket made of woven wood.",
+    "Lift the can with gold top lid, set it in the basket with loop handle, and elevate the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape, put it into the basket with loop handle, and lift the basket with loop handle.",
+    "Grab the small white can with branding, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Use the left arm to grab the smooth white can with accents, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Grab the cylindrical white glossy can, place it in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Pick up the can with sealed gold top with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Lift the medium metal can, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Lift the medium metal can, put it in the brown basket, and carry the brown basket afterward.",
+    "Use the left arm to grab the can with sealed gold top, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Place the smooth white can with accents inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Pick up the small white can with branding using the left arm, drop it into the brown basket, and lift the brown basket with the other arm.",
+    "Grab the smooth white can with accents, set it into the woven basket, then raise the woven basket.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the brown basket, and lift the brown basket.",
+    "Grab the cylindrical white glossy can, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Grab the red-orange text on white can, put it in the brown basket, then raise the brown basket.",
+    "Pick up the cylindrical white glossy can, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Grab and drop the can with sealed gold top in the basket for holding items, lift the basket for holding items.",
+    "Drop the smooth white can with accents into the basket for carrying things using the left arm, then lift the basket for carrying things with another arm.",
+    "Pick the white can with 3D RADY label using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Use the left arm to grab the cylindrical white glossy can and place in the brown basket, lift the brown basket with another arm.",
+    "Lift the smooth white can with accents, place it in the basket for holding items, and raise the basket for holding items.",
+    "Pick the white can with 3D RADY label, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Use the left arm to hold the white can, drop the white can into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the can with rounded cylindrical shape, put it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Take the beverage can with printed label, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Hold the white can using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Grab the medium metal can, drop it into the basket for carrying things, and raise the basket for carrying things with the other arm.",
+    "Grab the cylindrical white glossy can, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the light brown oval basket, and then lift the light brown oval basket.",
+    "Take the red-orange text on white can in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Use the left arm to take the beverage can with printed label, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Take the white can, set it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Lift the white can with 3D RADY label, place it inside the light brown oval basket, and elevate the light brown oval basket.",
+    "Take the small white can with branding with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Pick the white can with the left arm, drop it in the brown basket, lift the brown basket with another arm.",
+    "Lift the can with sealed gold top with the left arm, set it in the oval-shaped basket with woven body, and lift with another arm.",
+    "Pick the can with sealed gold top, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Pick the smooth white can with accents with one arm, place it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to grab the beverage can with printed label, place it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Grab the can with gold top lid with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Place the medium metal can in the brown basket and then use another arm to lift the brown basket.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the small white can with branding, drop it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Grab the smooth white can with accents using the left arm, drop the smooth white can with accents into the basket with handle and lift the basket with handle.",
+    "Pick up the white can, place it into the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Lift the smooth white can with accents, drop it into the light brown oval basket, then carry the light brown oval basket.",
+    "Pick up the can with red-orange text, set it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Place the white can with 3D RADY label in the basket with handle and then lift the basket with handle.",
+    "Use the left arm to pick the can with rounded cylindrical shape, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Take the can with rounded cylindrical shape and put it in the basket for carrying things, then lift the basket for carrying things."
+  ],
+  "unseen": [
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode5.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..340727a304cdf30fc5c47dee0b3b7f63f679ce86
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical white glossy can, drop it into the woven basket, and raise the woven basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Pick the small white can with branding with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Use the left arm for the red-orange text on white can, place the red-orange text on white can in the basket for carrying things, and lift the basket for carrying things.",
+    "Take the can with gold top lid and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab and drop the beverage can with printed label in the basket with loop handle, lift the basket with loop handle.",
+    "Pick up the can with gold top lid, place it into the brown basket, then lift the brown basket.",
+    "Place the cylindrical white glossy can in the basket with handle and then use another arm to lift the basket with handle.",
+    "Use the same arm to grab the can with rounded cylindrical shape, place in the basket made of woven wood, and then lift the basket made of woven wood.",
+    "Lift the white can with 3D RADY label, place it in the woven basket, and raise the woven basket.",
+    "Pick up the red-orange text on white can, put it in the basket for carrying things, and lift the basket for carrying things.",
+    "Use the left arm to grab the can with sealed gold top, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Grab the beverage can with printed label, place it in the brown basket, and then lift the brown basket.",
+    "Lift the smooth white can with accents with the left arm, set it in the basket with loop handle, and lift with another arm.",
+    "Use the left arm to grab the can with gold top lid, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick the medium metal can, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Pick up the red-orange text on white can, set it inside the basket with loop handle, then lift the basket with loop handle.",
+    "Lift the white can with 3D RADY label, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Grab the red-orange text on white can, drop it into the light brown oval basket, and raise the light brown oval basket with the other arm.",
+    "Pick up the white can with 3D RADY label, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Pick the red-orange text on white can using the left arm, drop it in the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Place the medium metal can inside the basket with handle, then lift the basket with handle.",
+    "Grab the white can, set it into the woven basket, then raise the woven basket.",
+    "Drop the can with gold top lid into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Lift the can with sealed gold top, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick the white can, set it in the basket with loop handle, then lift the basket with loop handle.",
+    "Use the left arm to take the can with gold top lid, drop it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the cylindrical white glossy can, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Hold the beverage can with printed label using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Grab the red-orange text on white can with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick the red-orange text on white can with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab the smooth white can with accents, drop it into the basket with handle, then use another arm for the basket with handle.",
+    "Use the left arm to hold the white can, drop the white can into the brown basket, and lift the brown basket.",
+    "Take the white can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Pick up the white can with 3D RADY label, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Lift the white can, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Lift the cylindrical white glossy can, place it in the oval-shaped basket with woven body, pick up the oval-shaped basket with woven body afterward.",
+    "Grab the cylindrical white glossy can, place it in the woven basket, and lift the woven basket upwards.",
+    "Pick up the can with rounded cylindrical shape using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Take the can with red-orange text in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Use the left arm to grab the small white can with branding, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the brown basket and lift the brown basket.",
+    "Use the left arm to grab the red-orange text on white can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Place the red-orange text on white can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Use the left arm to pick the can with gold top lid, place it inside the basket for carrying things, then lift the basket for carrying things.",
+    "Take the small white can with branding, set it into the woven basket, and raise the woven basket.",
+    "Pick up the cylindrical white glossy can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Grab the smooth white can with accents, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Grab the cylindrical white glossy can, drop it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick the cylindrical white glossy can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket for carrying things, lift the basket for carrying things with another arm.",
+    "Use the left arm for the white can, place the white can in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Take the medium metal can and put it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab and drop the small white can with branding in the basket for holding items, lift the basket for holding items.",
+    "Pick up the can with rounded cylindrical shape, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Place the can with sealed gold top in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Use the same arm to grab the red-orange text on white can, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Lift the can with red-orange text, place it in the basket for holding items, and raise the basket for holding items.",
+    "Pick up the cylindrical white glossy can, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Use the left arm to grab the white can, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with another arm.",
+    "Grab the beverage can with printed label, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Lift the white can with the left arm, set it in the basket made of woven wood, and lift with another arm.",
+    "Use the left arm to grab the small white can with branding, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick the can with rounded cylindrical shape, set it in the basket for carrying things, and lift the basket for carrying things upward.",
+    "Pick up the can with gold top lid, set it inside the basket for holding items, then lift the basket for holding items.",
+    "Lift the can with sealed gold top, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Grab the cylindrical white glossy can, drop it into the basket for holding items, and raise the basket for holding items with the other arm.",
+    "Pick up the can with red-orange text, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Grab the small white can with branding, place it in the basket for carrying things, and raise the basket for carrying things using the other arm.",
+    "Pick the smooth white can with accents using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Place the can with rounded cylindrical shape inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the can with red-orange text, set it into the basket with handle, then raise the basket with handle.",
+    "Drop the beverage can with printed label into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Lift the can with gold top lid, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick the smooth white can with accents, set it in the woven basket, then lift the woven basket.",
+    "Use the left arm to take the small white can with branding, drop it in the basket with handle, and lift the basket with handle.",
+    "Lift the can with sealed gold top, drop it into the brown basket, then carry the brown basket.",
+    "Hold the can with gold top lid using the left arm, place it in the woven basket, and lift the woven basket.",
+    "Grab the can with rounded cylindrical shape with the left arm, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle with the other arm.",
+    "Pick the small white can with branding with the left arm, set it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Grab the cylindrical white glossy can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket for carrying things, and lift the basket for carrying things.",
+    "Take the white can with 3D RADY label, place it into the woven basket, then lift the woven basket.",
+    "Pick up the can with red-orange text, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Lift the medium metal can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Lift the red-orange text on white can, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Grab the small white can with branding, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upwards.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Take the medium metal can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Use the left arm to grab the white can, place it into the brown basket with woven ridges, and lift the brown basket with woven ridges using the other arm.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the brown basket with woven ridges and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the white can and place in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Place the red-orange text on white can in the basket made of woven wood and then lift the basket made of woven wood.",
+    "Take the can with gold top lid with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm to pick the smooth white can with accents, place it inside the basket with handle, then lift the basket with handle.",
+    "Take the medium metal can, set it into the basket with loop handle, and raise the basket with loop handle.",
+    "Pick up the medium metal can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, put it in the basket made of woven wood, then raise the basket made of woven wood."
+  ],
+  "unseen": [
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode6.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..9edfb31c739a96716e43c3fcae77b983f5e5c7cd
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the beverage can with printed label, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Use the left arm to take the can with red-orange text, drop it in the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the white can, place it in the brown basket with woven ridges, and then lift the brown basket with woven ridges.",
+    "Lift the small white can with branding, set it in the brown basket, and elevate the brown basket.",
+    "Pick up the red-orange text on white can, put it in the brown basket, and lift the brown basket.",
+    "Place the smooth white can with accents inside the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the smooth white can with accents, drop it into the basket with handle, and raise the basket with handle with the other arm.",
+    "Grab the medium metal can, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Pick the smooth white can with accents, set it in the brown basket with woven ridges, and lift the brown basket with woven ridges upward.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Lift the white can with 3D RADY label, drop it into the brown basket with woven ridges, then carry the brown basket with woven ridges.",
+    "Take the beverage can with printed label, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the smooth white can with accents, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to grab the white can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with another arm.",
+    "Grab the can with sealed gold top, place it in the woven basket, and then lift the woven basket.",
+    "Pick the can with gold top lid, set it in the woven basket, then lift the woven basket.",
+    "Drop the white can into the basket with loop handle using the left arm, then lift the basket with loop handle with another arm.",
+    "Pick up the beverage can with printed label, put it into the brown basket, and lift the brown basket.",
+    "Grab the red-orange text on white can with the left arm, put it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Grab and drop the beverage can with printed label in the woven basket, lift the woven basket.",
+    "Lift the beverage can with printed label, place it inside the basket made of woven wood, and elevate the basket made of woven wood.",
+    "Pick the white can using the left arm, drop it in the basket with handle, and lift the basket with handle with the other arm.",
+    "Pick the medium metal can with the left arm, set it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Lift the can with sealed gold top, put it in the basket with loop handle, and carry the basket with loop handle afterward.",
+    "Pick up the white can with the left arm, place into the wooden basket with curved handle, the other arm raises the wooden basket with curved handle.",
+    "Hold the smooth white can with accents using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the wooden basket with curved handle and lift the wooden basket with curved handle.",
+    "Grab the beverage can with printed label, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the medium metal can, place it in the basket for holding items, and raise the basket for holding items using the other arm.",
+    "Grab the medium metal can, drop it into the smooth ribbed light brown basket, then use another arm for the smooth ribbed light brown basket.",
+    "Lift the small white can with branding, place it in the basket for carrying things, and raise the basket for carrying things.",
+    "Use the left arm to grab the cylindrical white glossy can, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Take the white can with 3D RADY label in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Place the smooth white can with accents in the basket for carrying things and then lift the basket for carrying things.",
+    "Grab the beverage can with printed label, set it into the brown basket, then raise the brown basket.",
+    "Pick the red-orange text on white can with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Take the can with rounded cylindrical shape, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Take the can with sealed gold top and put it in the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Use the left arm to hold the small white can with branding, drop the small white can with branding into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the white can and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Lift the red-orange text on white can with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Use the same arm to grab the can with red-orange text, place in the basket for holding items, and then lift the basket for holding items.",
+    "Pick up the can with sealed gold top, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Place the cylindrical white glossy can in the oval-shaped basket with woven body and then use another arm to lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the red-orange text on white can, place it into the basket with handle, and lift the basket with handle using the other arm.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Take the beverage can with printed label with the left arm, drop it into the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the left arm for the smooth white can with accents, place the smooth white can with accents in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the can with rounded cylindrical shape, place it in the smooth ribbed light brown basket, pick up the smooth ribbed light brown basket afterward.",
+    "Grab the smooth white can with accents, put it in the basket with handle, then raise the basket with handle.",
+    "Pick up the smooth white can with accents using the left arm, drop it into the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Use the left arm to take the can with gold top lid, drop it in the woven basket, and lift the woven basket.",
+    "Pick up the smooth white can with accents, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Lift the beverage can with printed label, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick up the smooth white can with accents, put it in the basket with handle, and lift the basket with handle.",
+    "Place the cylindrical white glossy can inside the basket for carrying things, then lift the basket for carrying things.",
+    "Grab the white can with 3D RADY label, drop it into the basket made of woven wood, and raise the basket made of woven wood with the other arm.",
+    "Grab the medium metal can, place it in the basket for carrying things, and lift the basket for carrying things upwards.",
+    "Pick the white can with 3D RADY label, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body upward.",
+    "Pick the white can with one arm, place it in the basket with handle, and lift the basket with handle using another arm.",
+    "Lift the beverage can with printed label, drop it into the woven basket, then carry the woven basket.",
+    "Take the medium metal can, set it into the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick up the smooth white can with accents, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to grab the cylindrical white glossy can, put it into the basket for carrying things, and lift the basket for carrying things with another arm.",
+    "Grab the red-orange text on white can, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Pick the medium metal can, set it in the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Drop the medium metal can into the woven basket using the left arm, then lift the woven basket with another arm.",
+    "Pick up the can with rounded cylindrical shape, put it into the woven basket, and lift the woven basket.",
+    "Grab the medium metal can with the left arm, put it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Grab and drop the can with gold top lid in the woven basket, lift the woven basket.",
+    "Lift the white can, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Pick the cylindrical white glossy can using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Pick the small white can with branding with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Lift the red-orange text on white can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Pick up the white can with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Hold the red-orange text on white can using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Grab the red-orange text on white can using the left arm, drop the red-orange text on white can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Grab the small white can with branding, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle.",
+    "Grab the can with sealed gold top, place it in the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket using the other arm.",
+    "Grab the can with sealed gold top, drop it into the basket for holding items, then use another arm for the basket for holding items.",
+    "Lift the can with red-orange text, place it in the brown basket, and raise the brown basket.",
+    "Use the left arm to grab the medium metal can, place it in the brown basket, and lift the brown basket.",
+    "Take the small white can with branding in the left arm, place it into the basket with handle, another arm lifts the basket with handle.",
+    "Place the smooth white can with accents in the brown basket with woven ridges and then lift the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, set it into the woven basket, then raise the woven basket.",
+    "Pick the red-orange text on white can with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Take the smooth white can with accents, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the beverage can with printed label and put it in the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the woven basket, and lift the woven basket.",
+    "Use the left arm to grab the medium metal can and place in the basket for holding items, lift the basket for holding items with another arm.",
+    "Lift the smooth white can with accents with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Use the same arm to grab the smooth white can with accents, place in the basket with handle, and then lift the basket with handle.",
+    "Pick up the can with rounded cylindrical shape, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Place the can with red-orange text in the basket made of woven wood and then use another arm to lift the basket made of woven wood.",
+    "Use the left arm to grab the white can with 3D RADY label, place it into the basket for holding items, and lift the basket for holding items using the other arm.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket made of woven wood, then lift the basket made of woven wood.",
+    "Take the can with rounded cylindrical shape with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Lift the can with gold top lid, place it in the woven basket, pick up the woven basket afterward."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode7.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..167b530f411c7253d79c1070993de33c58da902e
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the medium metal can in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Grab and drop the small white can with branding in the woven basket, lift the woven basket.",
+    "Use the left arm to hold the can with sealed gold top, drop the can with sealed gold top into the basket with loop handle, and lift the basket with loop handle.",
+    "Pick up the beverage can with printed label, place it into the woven basket, then lift the woven basket.",
+    "Pick the smooth white can with accents with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Place the can with red-orange text in the smooth ribbed light brown basket and then use another arm to lift the smooth ribbed light brown basket.",
+    "Place the can with red-orange text inside the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the can with rounded cylindrical shape, put it into the woven basket, and lift the woven basket with another arm.",
+    "Grab the beverage can with printed label, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Pick the white can, set it in the basket with handle, and lift the basket with handle upward.",
+    "Take the can with red-orange text and put it in the basket for holding items, then lift the basket for holding items.",
+    "Grab the white can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Use the left arm to grab the beverage can with printed label, place it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using the other arm.",
+    "Lift the cylindrical white glossy can, place it in the basket with loop handle, pick up the basket with loop handle afterward.",
+    "Pick the white can with 3D RADY label with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Use the left arm to grab the can with sealed gold top, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the can with gold top lid, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the red-orange text on white can, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Pick up the can with gold top lid with the left arm, place into the brown basket with woven ridges, the other arm raises the brown basket with woven ridges.",
+    "Pick the medium metal can using the left arm, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with the other arm.",
+    "Pick the smooth white can with accents with one arm, place it in the basket for holding items, and lift the basket for holding items using another arm.",
+    "Use the same arm to grab the beverage can with printed label, place in the brown basket, and then lift the brown basket.",
+    "Hold the white can with 3D RADY label using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Pick up the white can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the left arm to grab the beverage can with printed label and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Lift the white can with the left arm, set it in the woven basket, and lift with another arm.",
+    "Lift the red-orange text on white can, drop it into the basket made of woven wood, then carry the basket made of woven wood.",
+    "Drop the red-orange text on white can into the wooden basket with curved handle using the left arm, then lift the wooden basket with curved handle with another arm.",
+    "Grab the can with sealed gold top, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Lift the medium metal can, put it in the wooden basket with curved handle, and carry the wooden basket with curved handle afterward.",
+    "Use the left arm to pick the medium metal can, place it inside the basket for holding items, then lift the basket for holding items.",
+    "Take the beverage can with printed label, place it into the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the smooth white can with accents, drop it into the basket for carrying things, and raise the basket for carrying things.",
+    "Pick the smooth white can with accents, set it in the basket for carrying things, then lift the basket for carrying things.",
+    "Lift the can with red-orange text, set it in the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Grab the can with gold top lid using the left arm, drop the can with gold top lid into the basket made of woven wood and lift the basket made of woven wood.",
+    "Grab the cylindrical white glossy can, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Pick up the white can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the woven basket, and lift the woven basket.",
+    "Take the can with sealed gold top in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Grab the cylindrical white glossy can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Pick up the can with red-orange text, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the white can with the left arm, put it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Lift the red-orange text on white can, place it in the basket with handle, and raise the basket with handle.",
+    "Use the left arm to take the white can with 3D RADY label, drop it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Lift the medium metal can, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Pick up the cylindrical white glossy can using the left arm, drop it into the basket with handle, and lift the basket with handle with the other arm.",
+    "Take the white can with 3D RADY label, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Take the smooth white can with accents with the left arm, drop it into the basket with loop handle, and lift the basket with loop handle using another arm.",
+    "Grab the white can with 3D RADY label, set it into the basket with handle, then raise the basket with handle.",
+    "Place the white can in the basket for holding items and then lift the basket for holding items.",
+    "Grab and drop the can with sealed gold top in the basket made of woven wood, lift the basket made of woven wood.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the woven basket, and lift the woven basket.",
+    "Pick up the white can, place it into the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Place the medium metal can in the basket with handle and then use another arm to lift the basket with handle.",
+    "Place the can with rounded cylindrical shape inside the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the smooth white can with accents, put it into the brown basket, and lift the brown basket with another arm.",
+    "Grab the small white can with branding, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Pick the medium metal can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Take the can with rounded cylindrical shape and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the can with gold top lid, put it in the basket made of woven wood, then raise the basket made of woven wood.",
+    "Use the left arm to grab the red-orange text on white can, place it into the basket with loop handle, and lift the basket with loop handle using the other arm.",
+    "Lift the cylindrical white glossy can, place it in the basket for carrying things, pick up the basket for carrying things afterward.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Use the left arm to grab the white can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Pick up the white can with 3D RADY label, place it in the basket for holding items, and then lift the basket for holding items.",
+    "Grab the red-orange text on white can, place it in the basket with handle, and then lift the basket with handle.",
+    "Pick up the smooth white can with accents with the left arm, place into the basket for carrying things, the other arm raises the basket for carrying things.",
+    "Pick the can with sealed gold top using the left arm, drop it in the brown basket, and lift the brown basket with the other arm.",
+    "Pick the small white can with branding with one arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket using another arm.",
+    "Use the same arm to grab the white can, place in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Hold the can with gold top lid using the left arm, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Pick up the cylindrical white glossy can, put it into the basket with handle, and lift the basket with handle.",
+    "Use the left arm to grab the white can and place in the brown basket, lift the brown basket with another arm.",
+    "Lift the can with gold top lid with the left arm, set it in the basket with handle, and lift with another arm.",
+    "Lift the beverage can with printed label, drop it into the smooth ribbed light brown basket, then carry the smooth ribbed light brown basket.",
+    "Drop the white can with 3D RADY label into the basket made of woven wood using the left arm, then lift the basket made of woven wood with another arm.",
+    "Grab the white can with 3D RADY label, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Lift the medium metal can, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Use the left arm to pick the beverage can with printed label, place it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Take the can with gold top lid, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the beverage can with printed label, drop it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Pick the white can with 3D RADY label, set it in the basket with handle, then lift the basket with handle.",
+    "Lift the small white can with branding, set it in the brown basket, and elevate the brown basket.",
+    "Grab the beverage can with printed label using the left arm, drop the beverage can with printed label into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Grab the cylindrical white glossy can, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Pick up the white can with 3D RADY label, put it in the brown basket, and lift the brown basket.",
+    "Use the left arm for the cylindrical white glossy can, place the cylindrical white glossy can in the basket with loop handle, and lift the basket with loop handle.",
+    "Take the small white can with branding in the left arm, place it into the basket with loop handle, another arm lifts the basket with loop handle.",
+    "Grab the red-orange text on white can, drop it into the brown basket with woven ridges, then use another arm for the brown basket with woven ridges.",
+    "Pick up the small white can with branding, set it inside the light brown oval basket, then lift the light brown oval basket.",
+    "Grab the smooth white can with accents with the left arm, put it into the woven basket, and lift the woven basket with the other arm.",
+    "Lift the beverage can with printed label, place it in the basket for holding items, and raise the basket for holding items.",
+    "Use the left arm to take the white can, drop it in the basket for carrying things, and lift the basket for carrying things.",
+    "Lift the small white can with branding, place it inside the light brown oval basket, and elevate the light brown oval basket.",
+    "Pick up the small white can with branding using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Take the white can, set it into the brown basket with woven ridges, and raise the brown basket with woven ridges.",
+    "Take the cylindrical white glossy can with the left arm, drop it into the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Grab the small white can with branding, set it into the brown basket, then raise the brown basket."
+  ],
+  "unseen": [
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode8.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3342269cc4c35cf3aa094c2015c4b2f751ecdc
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the cylindrical white glossy can and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the beverage can with printed label, place it in the smooth ribbed light brown basket, and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the cylindrical white glossy can, place it inside the basket with handle, then lift the basket with handle.",
+    "Grab the small white can with branding, place it in the wooden basket with curved handle, and then lift the wooden basket with curved handle.",
+    "Lift the medium metal can, set it in the oval-shaped basket with woven body, and elevate the oval-shaped basket with woven body.",
+    "Lift the white can, place it in the basket made of woven wood, pick up the basket made of woven wood afterward.",
+    "Place the can with red-orange text in the basket for holding items and then lift the basket for holding items.",
+    "Pick up the can with rounded cylindrical shape, set it inside the brown basket, then lift the brown basket.",
+    "Grab the red-orange text on white can, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Pick the medium metal can with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Grab and drop the small white can with branding in the basket for holding items, lift the basket for holding items.",
+    "Use the left arm to grab the can with red-orange text, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Pick the small white can with branding, set it in the brown basket, and lift the brown basket upward.",
+    "Take the red-orange text on white can in the left arm, place it into the basket made of woven wood, another arm lifts the basket made of woven wood.",
+    "Place the beverage can with printed label inside the basket with loop handle, then lift the basket with loop handle.",
+    "Grab the can with red-orange text, set it into the light brown oval basket, then raise the light brown oval basket.",
+    "Place the can with red-orange text in the wooden basket with curved handle and then use another arm to lift the wooden basket with curved handle.",
+    "Grab the beverage can with printed label, drop it into the basket made of woven wood, then use another arm for the basket made of woven wood.",
+    "Grab the smooth white can with accents, place it in the wooden basket with curved handle, and raise the wooden basket with curved handle using the other arm.",
+    "Pick up the medium metal can with the left arm, place into the basket with loop handle, the other arm raises the basket with loop handle.",
+    "Pick the smooth white can with accents with the left arm, set it in the light brown oval basket, and lift the light brown oval basket using another arm.",
+    "Lift the can with rounded cylindrical shape, drop it into the oval-shaped basket with woven body, then carry the oval-shaped basket with woven body.",
+    "Lift the small white can with branding, place it inside the wooden basket with curved handle, and elevate the wooden basket with curved handle.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges with the other arm.",
+    "Use the left arm to grab the small white can with branding and place in the smooth ribbed light brown basket, lift the smooth ribbed light brown basket with another arm.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick the can with red-orange text with the left arm, drop it in the brown basket with woven ridges, lift the brown basket with woven ridges with another arm.",
+    "Grab the cylindrical white glossy can, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Lift the can with sealed gold top, place it in the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the small white can with branding, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle upwards.",
+    "Use the left arm to hold the medium metal can, drop the medium metal can into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket with handle, and lift the basket with handle with another arm.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the smooth ribbed light brown basket and lift the smooth ribbed light brown basket.",
+    "Drop the red-orange text on white can into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Take the beverage can with printed label, place it into the brown basket, then lift the brown basket.",
+    "Take the white can, set it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Use the left arm to grab the medium metal can, place it in the woven basket, and lift the woven basket.",
+    "Hold the medium metal can using the left arm, place it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Lift the beverage can with printed label, put it in the basket for carrying things, and carry the basket for carrying things afterward.",
+    "Use the same arm to grab the medium metal can, place in the oval-shaped basket with woven body, and then lift the oval-shaped basket with woven body.",
+    "Pick the small white can with branding using the left arm, drop it in the basket made of woven wood, and lift the basket made of woven wood with the other arm.",
+    "Pick the white can with 3D RADY label, set it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the smooth white can with accents, place it into the basket made of woven wood, then lift the basket made of woven wood.",
+    "Use the left arm to take the can with rounded cylindrical shape, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Take the small white can with branding with the left arm, drop it into the basket for carrying things, and lift the basket for carrying things using another arm.",
+    "Pick up the beverage can with printed label, put it in the woven basket, and lift the woven basket.",
+    "Lift the medium metal can with the left arm, set it in the wooden basket with curved handle, and lift with another arm.",
+    "Grab the white can, drop it into the brown basket, and raise the brown basket with the other arm.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the beverage can with printed label, put it into the basket for holding items, and lift the basket for holding items.",
+    "Take the can with rounded cylindrical shape and put it in the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick up the can with gold top lid, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the woven basket, then lift the woven basket.",
+    "Grab the beverage can with printed label, place it in the basket with loop handle, and then lift the basket with loop handle.",
+    "Lift the smooth white can with accents, set it in the basket for holding items, and elevate the basket for holding items.",
+    "Lift the beverage can with printed label, place it in the wooden basket with curved handle, pick up the wooden basket with curved handle afterward.",
+    "Place the medium metal can in the basket with handle and then lift the basket with handle.",
+    "Pick up the can with gold top lid, set it inside the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Grab the medium metal can, drop it into the basket with handle, and raise the basket with handle.",
+    "Pick the beverage can with printed label with one arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges using another arm.",
+    "Grab and drop the medium metal can in the wooden basket with curved handle, lift the wooden basket with curved handle.",
+    "Use the left arm to grab the cylindrical white glossy can, place it into the basket made of woven wood, and lift the basket made of woven wood using the other arm.",
+    "Pick the red-orange text on white can, set it in the basket made of woven wood, and lift the basket made of woven wood upward.",
+    "Take the small white can with branding in the left arm, place it into the wooden basket with curved handle, another arm lifts the wooden basket with curved handle.",
+    "Place the small white can with branding inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the medium metal can, set it into the basket made of woven wood, then raise the basket made of woven wood.",
+    "Place the can with red-orange text in the basket for holding items and then use another arm to lift the basket for holding items.",
+    "Grab the small white can with branding, drop it into the basket for holding items, then use another arm for the basket for holding items.",
+    "Grab the red-orange text on white can, place it in the light brown oval basket, and raise the light brown oval basket using the other arm.",
+    "Pick up the can with gold top lid with the left arm, place into the brown basket, the other arm raises the brown basket.",
+    "Pick the cylindrical white glossy can with the left arm, set it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body using another arm.",
+    "Lift the cylindrical white glossy can, drop it into the basket with handle, then carry the basket with handle.",
+    "Lift the white can with 3D RADY label, place it inside the brown basket, and elevate the brown basket.",
+    "Grab the white can with 3D RADY label with the left arm, put it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Use the left arm to grab the beverage can with printed label and place in the basket with handle, lift the basket with handle with another arm.",
+    "Pick up the can with sealed gold top using the left arm, drop it into the basket for holding items, and lift the basket for holding items with the other arm.",
+    "Pick the red-orange text on white can with the left arm, drop it in the light brown oval basket, lift the light brown oval basket with another arm.",
+    "Grab the red-orange text on white can, put it in the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Lift the can with red-orange text, place it in the basket with handle, and raise the basket with handle.",
+    "Grab the white can with 3D RADY label, place it in the basket with loop handle, and lift the basket with loop handle upwards.",
+    "Use the left arm to hold the red-orange text on white can, drop the red-orange text on white can into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket.",
+    "Use the left arm to grab the medium metal can, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Grab the white can using the left arm, drop the white can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Drop the smooth white can with accents into the brown basket using the left arm, then lift the brown basket with another arm.",
+    "Take the medium metal can, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Take the smooth white can with accents, set it into the smooth ribbed light brown basket, and raise the smooth ribbed light brown basket.",
+    "Use the left arm to grab the white can, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Hold the can with gold top lid using the left arm, place it in the brown basket, and lift the brown basket.",
+    "Lift the smooth white can with accents, put it in the oval-shaped basket with woven body, and carry the oval-shaped basket with woven body afterward.",
+    "Use the same arm to grab the white can, place in the brown basket, and then lift the brown basket.",
+    "Pick the can with gold top lid using the left arm, drop it in the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick the smooth white can with accents, set it in the basket with handle, then lift the basket with handle.",
+    "Pick up the cylindrical white glossy can, place it into the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Use the left arm to take the smooth white can with accents, drop it in the basket with handle, and lift the basket with handle.",
+    "Take the smooth white can with accents with the left arm, drop it into the woven basket, and lift the woven basket using another arm.",
+    "Pick up the medium metal can, put it in the basket for holding items, and lift the basket for holding items.",
+    "Lift the red-orange text on white can with the left arm, set it in the basket for holding items, and lift with another arm.",
+    "Grab the can with red-orange text, drop it into the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body with the other arm.",
+    "Use the left arm for the small white can with branding, place the small white can with branding in the basket with handle, and lift the basket with handle.",
+    "Pick up the can with red-orange text, put it into the wooden basket with curved handle, and lift the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the metal can fits easily in hand, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Pick up the lightweight cylindrical metal can, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Use the left arm to pick up the lightweight cylindrical metal can, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Pick the can with shiny smooth surface, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Pick up the metal can fits easily in hand, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode9.json b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..67df083104827f9fe7ad847006e3030131b3fd24
--- /dev/null
+++ b/language/train/place_can_basket/rtgen_language_train_place_can_basket_template_bucket_0/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the can with rounded cylindrical shape, drop it into the basket with loop handle, then carry the basket with loop handle.",
+    "Pick up the medium metal can, set it inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Grab the red-orange text on white can, place it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket upwards.",
+    "Pick the beverage can with printed label, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle upward.",
+    "Grab the can with red-orange text using the left arm, drop the can with red-orange text into the basket with loop handle and lift the basket with loop handle.",
+    "Lift the can with sealed gold top, place it in the light brown oval basket, pick up the light brown oval basket afterward.",
+    "Pick up the white can with 3D RADY label, place it in the basket with handle, and then lift the basket with handle.",
+    "Take the can with rounded cylindrical shape, place it into the basket for carrying things, then lift the basket for carrying things.",
+    "Use the left arm to grab the white can, place it in the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body.",
+    "Use the left arm for the can with red-orange text, place the can with red-orange text in the basket for holding items, and lift the basket for holding items.",
+    "Place the small white can with branding in the woven basket and then use another arm to lift the woven basket.",
+    "Use the left arm to hold the can with rounded cylindrical shape, drop the can with rounded cylindrical shape into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the white can with 3D RADY label with the left arm, set it in the light brown oval basket, and lift with another arm.",
+    "Hold the beverage can with printed label using the left arm, place it in the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Pick up the white can with 3D RADY label, put it in the basket made of woven wood, and lift the basket made of woven wood.",
+    "Drop the small white can with branding into the basket with handle using the left arm, then lift the basket with handle with another arm.",
+    "Grab the small white can with branding, place it in the brown basket, and raise the brown basket using the other arm.",
+    "Grab the smooth white can with accents, drop it into the basket for holding items, and raise the basket for holding items.",
+    "Grab the white can, drop it into the wooden basket with curved handle, and raise the wooden basket with curved handle with the other arm.",
+    "Take the beverage can with printed label and put it in the woven basket, then lift the woven basket.",
+    "Use the left arm to grab the smooth white can with accents, place it into the basket for carrying things, and lift the basket for carrying things using the other arm.",
+    "Place the red-orange text on white can inside the basket with loop handle, then lift the basket with loop handle.",
+    "Pick the white can with the left arm, drop it in the basket with handle, lift the basket with handle with another arm.",
+    "Lift the can with gold top lid, place it inside the smooth ribbed light brown basket, and elevate the smooth ribbed light brown basket.",
+    "Pick the cylindrical white glossy can with one arm, place it in the basket made of woven wood, and lift the basket made of woven wood using another arm.",
+    "Grab the cylindrical white glossy can, set it into the brown basket with woven ridges, then raise the brown basket with woven ridges.",
+    "Lift the medium metal can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Take the small white can with branding, set it into the brown basket, and raise the brown basket.",
+    "Place the can with red-orange text in the smooth ribbed light brown basket and then lift the smooth ribbed light brown basket.",
+    "Use the left arm to pick the white can with 3D RADY label, place it inside the basket with handle, then lift the basket with handle.",
+    "Grab the can with red-orange text, place it in the basket with handle, and then lift the basket with handle.",
+    "Grab the cylindrical white glossy can, put it in the basket with loop handle, then raise the basket with loop handle.",
+    "Pick the can with sealed gold top with the left arm, set it in the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Use the left arm to take the medium metal can, drop it in the basket for holding items, and lift the basket for holding items.",
+    "Pick the can with rounded cylindrical shape using the left arm, drop it in the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Pick up the can with red-orange text using the left arm, drop it into the basket with loop handle, and lift the basket with loop handle with the other arm.",
+    "Pick up the beverage can with printed label, put it into the basket for carrying things, and lift the basket for carrying things.",
+    "Use the same arm to grab the red-orange text on white can, place in the basket for carrying things, and then lift the basket for carrying things.",
+    "Pick the red-orange text on white can, set it in the woven basket, then lift the woven basket.",
+    "Use the left arm to grab the can with red-orange text, put it into the basket made of woven wood, and lift the basket made of woven wood with another arm.",
+    "Lift the beverage can with printed label, set it in the brown basket, and elevate the brown basket.",
+    "Lift the can with rounded cylindrical shape, place it in the basket made of woven wood, and raise the basket made of woven wood.",
+    "Pick up the small white can with branding with the left arm, place into the light brown oval basket, the other arm raises the light brown oval basket.",
+    "Grab the white can with the left arm, put it into the basket for carrying things, and lift the basket for carrying things with the other arm.",
+    "Take the white can with 3D RADY label in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab the can with gold top lid, drop it into the oval-shaped basket with woven body, then use another arm for the oval-shaped basket with woven body.",
+    "Take the beverage can with printed label with the left arm, drop it into the wooden basket with curved handle, and lift the wooden basket with curved handle using another arm.",
+    "Grab and drop the beverage can with printed label in the basket for carrying things, lift the basket for carrying things.",
+    "Pick up the small white can with branding, place it into the wooden basket with curved handle, then lift the wooden basket with curved handle.",
+    "Use the left arm to grab the red-orange text on white can and place in the oval-shaped basket with woven body, lift the oval-shaped basket with woven body with another arm.",
+    "Lift the smooth white can with accents, drop it into the basket with handle, then carry the basket with handle.",
+    "Pick up the can with sealed gold top, set it inside the brown basket with woven ridges, then lift the brown basket with woven ridges.",
+    "Grab the white can with 3D RADY label, place it in the light brown oval basket, and lift the light brown oval basket upwards.",
+    "Pick the cylindrical white glossy can, set it in the basket with loop handle, and lift the basket with loop handle upward.",
+    "Grab the cylindrical white glossy can using the left arm, drop the cylindrical white glossy can into the basket made of woven wood and lift the basket made of woven wood.",
+    "Lift the can with sealed gold top, place it in the basket with handle, pick up the basket with handle afterward.",
+    "Pick up the beverage can with printed label, place it in the light brown oval basket, and then lift the light brown oval basket.",
+    "Take the small white can with branding, place it into the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to grab the medium metal can, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Use the left arm for the can with gold top lid, place the can with gold top lid in the basket for carrying things, and lift the basket for carrying things.",
+    "Place the medium metal can in the basket with loop handle and then use another arm to lift the basket with loop handle.",
+    "Use the left arm to hold the can with gold top lid, drop the can with gold top lid into the basket with loop handle, and lift the basket with loop handle.",
+    "Lift the can with gold top lid with the left arm, set it in the woven basket, and lift with another arm.",
+    "Hold the white can using the left arm, place it in the basket for carrying things, and lift the basket for carrying things.",
+    "Pick up the white can, put it in the wooden basket with curved handle, and lift the wooden basket with curved handle.",
+    "Drop the white can into the basket for holding items using the left arm, then lift the basket for holding items with another arm.",
+    "Grab the white can with 3D RADY label, place it in the basket made of woven wood, and raise the basket made of woven wood using the other arm.",
+    "Grab the medium metal can, drop it into the light brown oval basket, and raise the light brown oval basket.",
+    "Grab the can with sealed gold top, drop it into the woven basket, and raise the woven basket with the other arm.",
+    "Take the medium metal can and put it in the light brown oval basket, then lift the light brown oval basket.",
+    "Use the left arm to grab the can with red-orange text, place it into the brown basket, and lift the brown basket using the other arm.",
+    "Place the cylindrical white glossy can inside the oval-shaped basket with woven body, then lift the oval-shaped basket with woven body.",
+    "Pick the smooth white can with accents with the left arm, drop it in the basket made of woven wood, lift the basket made of woven wood with another arm.",
+    "Lift the can with red-orange text, place it inside the basket for holding items, and elevate the basket for holding items.",
+    "Pick the can with rounded cylindrical shape with one arm, place it in the woven basket, and lift the woven basket using another arm.",
+    "Grab the can with sealed gold top, set it into the smooth ribbed light brown basket, then raise the smooth ribbed light brown basket.",
+    "Lift the red-orange text on white can, put it in the smooth ribbed light brown basket, and carry the smooth ribbed light brown basket afterward.",
+    "Take the white can with 3D RADY label, set it into the light brown oval basket, and raise the light brown oval basket.",
+    "Place the small white can with branding in the oval-shaped basket with woven body and then lift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the can with sealed gold top, place it inside the smooth ribbed light brown basket, then lift the smooth ribbed light brown basket.",
+    "Grab the can with red-orange text, place it in the basket for carrying things, and then lift the basket for carrying things.",
+    "Grab the small white can with branding, put it in the oval-shaped basket with woven body, then raise the oval-shaped basket with woven body.",
+    "Pick the can with rounded cylindrical shape with the left arm, set it in the brown basket, and lift the brown basket using another arm.",
+    "Use the left arm to take the small white can with branding, drop it in the light brown oval basket, and lift the light brown oval basket.",
+    "Pick the white can using the left arm, drop it in the woven basket, and lift the woven basket with the other arm.",
+    "Pick up the can with gold top lid using the left arm, drop it into the light brown oval basket, and lift the light brown oval basket with the other arm.",
+    "Pick up the medium metal can, put it into the brown basket with woven ridges, and lift the brown basket with woven ridges.",
+    "Use the same arm to grab the small white can with branding, place in the brown basket, and then lift the brown basket.",
+    "Pick the can with red-orange text, set it in the basket for holding items, then lift the basket for holding items.",
+    "Use the left arm to grab the smooth white can with accents, put it into the oval-shaped basket with woven body, and lift the oval-shaped basket with woven body with another arm.",
+    "Lift the small white can with branding, set it in the woven basket, and elevate the woven basket.",
+    "Lift the smooth white can with accents, place it in the oval-shaped basket with woven body, and raise the oval-shaped basket with woven body.",
+    "Pick up the can with rounded cylindrical shape with the left arm, place into the basket for holding items, the other arm raises the basket for holding items.",
+    "Grab the red-orange text on white can with the left arm, put it into the smooth ribbed light brown basket, and lift the smooth ribbed light brown basket with the other arm.",
+    "Take the cylindrical white glossy can in the left arm, place it into the woven basket, another arm lifts the woven basket.",
+    "Grab the can with red-orange text, drop it into the basket with loop handle, then use another arm for the basket with loop handle.",
+    "Take the can with gold top lid with the left arm, drop it into the brown basket, and lift the brown basket using another arm.",
+    "Grab and drop the small white can with branding in the woven basket, lift the woven basket.",
+    "Pick up the red-orange text on white can, place it into the basket with handle, then lift the basket with handle.",
+    "Use the left arm to grab the cylindrical white glossy can and place in the basket made of woven wood, lift the basket made of woven wood with another arm."
+  ],
+  "unseen": [
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the can with shiny smooth surface, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the oval basket with medium storage space, the other arm lifts the oval basket with medium storage space.",
+    "Grab the metal can fits easily in hand, drop it into the oval basket with medium storage space, lift the oval basket with medium storage space with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Grab the metal can fits easily in hand, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Use the left arm to pick the metal can fits easily in hand, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the metal can fits easily in hand, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the basket with rounded edges, and lift the basket with rounded edges.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the basket with rounded edges, and lift the basket.",
+    "Pick the lightweight cylindrical metal can, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space.",
+    "Pick up the lightweight cylindrical metal can, place it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the lightweight cylindrical metal can, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the basket with rounded edges, the other arm lifts the basket with rounded edges.",
+    "Grab the can with shiny smooth surface, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the metal can fits easily in hand, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, put it in the basket with rounded edges, lift the basket with rounded edges.",
+    "Pick up the can with shiny smooth surface, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the lightweight cylindrical metal can, drop it into the oval basket with medium storage space, then lift the oval basket with medium storage space.",
+    "Use the left arm to pick the metal can fits easily in hand, place it into the oval basket with medium storage space, and lift the basket.",
+    "Pick the metal can fits easily in hand, put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Grab the can with shiny smooth surface and put it in the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick up the metal can fits easily in hand, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, drop it into the basket with rounded edges, lift the basket with rounded edges with another arm.",
+    "Use the left arm to grab the lightweight cylindrical metal can, put it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Grab the can with shiny smooth surface, put it in the medium basket with smooth texture, lift the medium basket with smooth texture.",
+    "Pick up the lightweight cylindrical metal can, place it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the metal can fits easily in hand, drop it in the oval basket with medium storage space, and lift the oval basket with medium storage space.",
+    "Use the left arm to pick the can with shiny smooth surface, drop it into the basket with rounded edges, then lift the basket with rounded edges.",
+    "Use the left arm to pick the can with shiny smooth surface, place it into the medium basket with smooth texture, and lift the basket.",
+    "Pick the can with shiny smooth surface, put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface and put it in the medium basket with smooth texture, then lift the medium basket with smooth texture.",
+    "Use the left arm to pick up the can with shiny smooth surface, put it into the medium basket with smooth texture, the other arm lifts the medium basket with smooth texture.",
+    "Grab the lightweight cylindrical metal can, drop it into the medium basket with smooth texture, lift the medium basket with smooth texture with another arm.",
+    "Use the left arm to grab the can with shiny smooth surface, put it in the medium basket with smooth texture, and lift the medium basket with smooth texture.",
+    "Grab the can with shiny smooth surface, put it in the oval basket with medium storage space, lift the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file